Calculation of A Three-Dimensional Coordinates of A Manipulator End Effector in A Compound Frames

Abstract

A theoretical and experimental study of measurement of three dimensional Cartesian coordinates of the end effecter of a robotic manipulator with three different frames each one known relative to the other was carried out in this research.The aim of this work is, first, to calculate three dimensional Cartesian coordinates of an end effecter tip which lies in a specific frame {C} with respect to another frame which represents the fixed base frame {A} passing through an intermediate frame {B} by using Matrix Compound Transformation Method i.e. theoretical approach, then followed by measuring the same coordinates by another two traditional procedures, they are: Z A Y A X A P P P , ,

o Self Coordinates Feeding.

o Manual Alignment.

And comparing the final obtained results (theoretical and experimental) with the standard one. The second step is checking repeatability for the above mentioned methods, by measuring the final tip coordinates for 18 times for each case.

The final result shows that the Matrix Compound Transformation Method gives an accurate repeatability comparing with the others.