Abstract
In the case of laser cutting machine of rocking mirror type, which is newly developed and a kind of optical manipulator, the positioning error of final laser spot on cutting plane, caused by assembling inaccuracies of optical system, would inevitably exceed the allowable limit without appropriate compensation. This research aims to establish the theory on the positioning error and its compensation for this new machine, with kinematics and inverse kinematics of manipulator. In this paper, a formula of actual position of final laser spot is derived as an implicit function of aimed position and the assembling inaccuracies.
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