A Theoretical research on compensation method for beam end positioning error due to assembling inaccuracies in an optical manipulator (2nd report, combined adjustment, bundle compensation by inverse kinematics)

摘要

First step is manipulator kinematics. The actual position of final laser spot [X*,Y*]~T, derived is 1st report as implicit function of the aimed position [X,Y]~T and assembling inaccuracies, is now transformed into explicit function of them, through approximate linearization. The explicit function shows the potential magnitude of positioning error and the existence of several pairs of assembling inaccuracies whose contributions to positioning error can be canceled each other with some apropri- ate hardware in assembly.