His research interests include the machining of difficultto-cut materials, high speed machining, environmental friendly machining, damage mechanism of coated tool and development of newly tools, and generation mechanism of Belag film etc..

No abstract

To improve the overall “absolute” positioning accuracy for the industrial manipulator, it is indispensable to calibrate its kinematic parameters. In conventional studies, researchers have focused on Denavit–Hartenberg (D-H) parameters. However, until now, for industrial manipulators, the absolute accuracy is significantly poor than its repeatability. In this study, we propose a new kinematic model of a 6DOF (degrees of freedom) industrial manipulator with the angular positioning deviation “error map” of each rotary axis. The angular positioning deviation is modeled as a function of command angular positions, as well as the rotation direction to model the influence of backlash. We also propose a method to identify the angular positioning deviation of all the rotary axes by using a laser tracker.

No abstract