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A Error Model for Multi joint Coordinate Measuring Machine

YE Dong,HUANG Qing Cheng,CHE Ren Sheng (Dept. of Precision Instruments, Harbin Institute of Technology,Harbin 150001)  
By using homogenous coordinate transformation principle and Denavit Hartenberg analysis method,a measurement kinematics model and a error model for multi joint coordinate measuring machine,of which the movement of the probe center is relative to machine reference frame,is constructed. And the model is validated by contrast between the theory calculation and actual errors. It establishes firm theory base for deeply developing calibration method for multi joint coordinate measuring machine.
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