Error modeling for five-axis laser processing robot

This paper introduces the research on error modeling of a five-axis laser processing robot which has three linear axes and two rotational axes. The error models are developed based on vector/matrix notion. Homogeneous coordinate transformations are employed to represent the ideal and real linear\rotation transformations of the five-axis laser processing robot by considering small angular approximation. Position error associated function which can reflect the influence of each error origin on the positioning error of the machine tool is given to describe the transmission error of the robot in detail. Based on this method, the paper puts forward the error model of the five-axis laser processing robot.