Abstract
A methodology has been presented to build a generalized error model of a multi-axis machine of arbitrary configuration. It is based on the assumption of rigid body motions and utilizes homogeneous transform matrices. The developed error model accounts for errors due to inaccuracies in the geometry and mutual relationships of the machine's structural elements as well as for errors resulting from the relative motion between these elements. The model is particularly useful for identifying the dominant contributors to the overall error within the machine's working volume.
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