Angular Position Research Articles

Numerical Study on Wave Dissipation and Mooring Force of a Horizontal Multi-Cylinder Floating Breakwater

A three-dimensional numerical model was established based on ANSYS-AQWA (R19.0) software for the purpose of analyzing the hydrodynamic characteristics of a floating breakwater. This study examines three distinct floating breakwaters with different cross-sectional designs in order to evaluate their respective wave dissipation capabilities. It is suggested that the horizontal multi-cylinder floating breakwater exhibits a superior ability to dissipate waves when compared to both the single-cylinder and square pontoon configurations and can be deemed the most advantageous shielding strategy for potential engineering applications. Subsequently, this study examines the effects of influential parameters, including a large cylinder diameter, a small cylinder diameter, the angular position of the small cylinder, and the height and period of the incident wave, on the wave transmission coefficient. An empirical formula for the wave transmission coefficient was derived based on the numerical results. Additionally, the effects of influential parameters, including wind speed, current velocity, incident wave height and period, and water depth, on the maximum total mooring force were investigated. Furthermore, an empirical formula for the maximum total mooring force is proposed for practical implementation in engineering.

ОЦЕНКА ЧУВСТВИТЕЛЬНОСТИ ПРОЦЕССА ТРИЕРНОЙ ОЧИСТКИ ЗЕРНА К РЕЖИМАМ РАБОТЫ

Studies of the relationship between the speed mode of operation of the wild oat trier and the quality indicators of the technological process of purifying wheat from long impurities: the inevitable technological losses of full-fledged grain of the main crop into waste and residual contamination of the purified grain have been carried out. The studies were carried out using an experimental trier, which provided separate supply of grain mixture components into a cellular cylinder in specified ratios and control of the cylinder rotation speed with an accuracy of 0.1 rpm. It has been established that the quality of the process of cleaning grain from long impurities is greatly influenced by the speed mode of operation of the trier. The optimal value of the rotational speed of the cellular cylinder, at which the entire length of the cellular surface is involved with minimal losses of grain from the main crop, exists for specific values of grain supply to the trier and the angular position of the output tray. The maximum cleaning quality in terms of residual grain contamination is achieved in this way. Reducing the cylinder rotation speed from the optimal 34.6 rpm to 34.0 rpm (by 1.7%) leads to an increase in technological losses by 3.6 times with zero initial clogging and by 15.5 times with clogging 1. 3%. The relationship between the indicator of residual contamination and the size of the free cellular surface when the rotation speed of the cellular cylinder deviates upward from the optimal one has been established. With a grain supply of 1.2 t/h, an angular position of the working edge of the output tray of 55° and a cylinder rotation speed of 36.0 rpm, the value of the free cellular surface was 70 cm, the residual contamination was 14.2 pieces/kg, and in the absence of a free cellular surface, achieved by reducing the speed mode of the trier to 34.6 rpm, the residual contamination of the cleaned grain was 1.5 pieces/kg, which is 9.5 times less.

Robust tracking control of a minimal realization model of an impaired human hand for anthropomorphic coordination

Objective Physiologically relevant optimal controllers better represent the decision-making process of the central nervous system (CNS) with proper neural inputs and proprioceptor feedback. A biomechanical mathematical framework in the human palm reference frame was simulated using physiological dynamics to explore the biomechanics of movement coordination of fingers in a human hand.Method Physiological state space models include multiple zero eigenvalues, representing a redundant system. A fingertip trajectory tracking control paradigm is created by reducing the model order through the H∞ control paradigm. The external disturbances and sensory noise are included in the 21-Degrees-of-Freedom biomechanical model.Main Results An analysis is conducted on the flexion movement of the robotic finger when it is disrupted from its initial equilibrium position. The controller administers feedback force at the joints to control the movement of the robotic finger. A full order H∞ robust controller was developed, and the results were compared with the reduced-order model. The model order was reduced from 21 to 18 states. A reference trajectory is followed by the index finger in the minimal realization model, which is derived from the joint angular position profile. It stabilizes at a flexion angle of 1 rad/sec within 2 sec. Studying the simpler form of a model first gives a realistic view of the more complex model. This study has the potential to enhance our comprehension of anthropomorphic movement coordination in hands with impairments in kinesiology, ergonomics, assistive technology, and prosthetic devices.

Application of the crow search algorithm to achieve an optimal solution for a double link manipulator

Robotic manipulators are mechanical devices that are electronically controlled and have several linkages that allow them to do specific jobs under specified situations. Here, a double-link manipulator is explored and modified using uncertainty factors that impact the robot manipulator's performance in monitoring the angular position. Unlike, the standard Lagrangian technique is employed to derive the motion equations and calculate the performance of the Two Link Robot Manipulator. Because the motion equation involves a nonlinear system of ordinary differential equations, getting to the target place is challenging. Meta-heuristic search algorithms were standard methodologie to solve any optimization problem, mainly real-time problems. Meta-heuristic algorithms depend upon the natural behaviour of the animals or birds. This paper uses a Crow search algorithm to minimize the trajectory and position of the double link manipulator. It also demonstrates how the Crow search algorithm can easily be used to solve optimal control problems (OCP) with constraints in MATLAB simulation. The Crow search algorithm depends on the crow's behaviour of keeping their excess food in a safe place and getting it as needed. The Crow search algorithm (CSA) was compared with particle swarm optimization (PSO), differential evolution (DE), and Grey Wolf Optimization (GWO). The double link manipulator's fundamental Model's performance is computed to find a solution. The Crow search method has produced notable results in terms of performance, i.e. 25 % to 98 % better, compared to other algorithms such as DE, PSO, and GWO.

Geometric error compensation method using the Laser R-test

Traditional methods for measuring geometric errors in machine tools, including interferometry and Double Ball Bar (DBB), are known to be expensive and time-intensive. Consequently, a non-contact calibration system called the “Laser R-test” has been developed. This innovative system is designed to measure both position-independent geometric errors (PIGEs) and position-dependent geometric errors (PDGEs) efficiently. Since its development in 2000, this tool has been instrumental in analyzing eccentricity errors, angular position errors, and simultaneous trajectory errors. Through extensive research, it has been determined that the total error in a five-axis machine tool can be controlled to below 40 µm after compensating for eccentricity parameters and angular position errors. However, reducing this error to below ± 10 µm is challenging, primarily due to wobble errors in the orientation of the rotary axis without compensating. In this study, a new methodology based on Laser R-test and Rodrigues’ rotation formula has been developed to establish a PIGE model of rotary axis. Based on the methodology, the 8 PIGEs can be analyzed by measuring 5 coordinate positions. The compensation of 8 PIGEs in the rotary axis is completed within 30 min using the inspection path. Compatibility with ISO-10791–6 standards for BK1, BK2, and BK4 path tests is confirmed, validating the compensation effects. A precision of below ± 10 µm is achieved, with inspection time reduced by over 50%. This system can complete multiple errors by simply using the different paths. This greatly reduces the setup time for future users, enhancing its commercial applicability.

Confined chaos and the chaotic angular motion of Atlas, a Saturn’s inner satellite

ABSTRACT The dynamics of the Solar system exhibit inherent chaos and instability. Mathematical tools, such as the maximum Lyapunov characteristic exponent (LCE) and Lyapunov time (TL), play a crucial role in providing a qualitative understanding of chaos within celestial objects, such as asteroids and moonlets. Celestial bodies with relatively small Lyapunov times have garnered significant research interest due to their stable orbits, a phenomenon referred to as stable or confined chaos. Notable examples include Saturn’s satellites: Atlas, with a Lyapunov time on the order of 10 yr, Prometheus, and Pandora. This work aims to study the chaotic behaviour of the Atlas satellite and its relatively small TL. We present a three-dimensional model approach designed to isolate the radial contribution from the LCE and assess its influence within the LCE. Our investigation focuses on the Saturn system, comprising Saturn itself, along with its satellites Atlas, Prometheus, Pandora, and Mimas. To estimate the radial contribution of the LCE, we find the projection of the radial vector of a ghost Atlas (a slightly displaced Atlas) onto the Atlas radial vector, which allows us to calculate the difference between the radial vectors. This methodology enables us to estimate the radial contribution of the LCE and calculate the Lyapunov time. Remarkably, our results demonstrate that orbits remain confined even for integration times exceeding TL. Furthermore, we investigate the temporal behaviour of Atlas’ angular position in its orbit, potentially shedding light on chaotic angular dynamics.

Weak Points of Double-Plate Stabilization Used in the Treatment of Distal Humerus Fracture through Finite Element Analysis.

Multi-comminuted, intra-articular fractures of the distal humerus still pose a challenge to modern orthopedics due to unsatisfactory treatment results and a high percentage (over 50%) of postoperative complications. When surgical treatment is chosen, such fractures are fixed using two plates with locking screws, which can be used in three spatial configurations: either parallel or one of two perpendicular variants (posterolateral and posteromedial). The evaluation of the fracture healing conditions for these plate configurations is unambiguous. The contradictions between the conclusions of biomechanical studies and clinical observations were the motivation to undertake a more in-depth biomechanical analysis aiming to indicate the weak points of two-plate fracture stabilization. Research was conducted using the finite element method based on an experimentally validated model. Three variants of distal humerus fracture (Y, λ, and H) were fixed using three different plate configurations (parallel, posterolateral, and posteromedial), and they were analyzed under six loading conditions, covering the whole range of flexion in the elbow joint (0-145°). A joint reaction force equal to 150 N was assumed, which corresponds with holding a weight of 1 kg in the hand. The biomechanical conditions of bone union were assessed based on the interfragmentary movement (IFM) and using criteria formulated by Steiner et al. Results: The IFMs were established for particular regions of all of the analyzed types of fracture, with distinction to the normal and tangential components. In general, the tangential component of IFM was greater than normal. A strong influence of the elbow joint's angular position on the IFM was observed, with excessive values occurring for flexion angles greater than 90°. In most cases, the smallest IFM values were obtained for the parallel plaiting, while the greatest values were obtained for the posteromedial plating. Based on IFM values, fracture healing conditions in particular cases (fracture type, plate configuration, loading condition, and fracture gap localization) were classified into one of four groups: optimal bone union (OPT), probable union (PU), probable non-union (PNU), and non-union (NU). No plating configuration is able to ensure distal humerus fracture union when the full elbow flexion is allowed while holding a weight of 1 kg in the hand. However, flexion in the range of 0-90° with such loadings is acceptable when using parallel plating, which is a positive finding in the context of the early rehabilitation process. In general, parallel plating ensures better conditions for fracture healing than perpendicular plate configurations, especially the posteromedial version.

One-Degree Aerial Device: Control and Experimental Development

The ball and beam experimental platform is an unstable nonlinear system widely used as a benchmark control setup for testing different controller approaches, especially for beginners on automatic control to improve their control knowledge skills. In this paper, we innovate it by governing the angular position of the beam with a twin-rotor system. Our experiment consists of a beam that rotates through a pivot, in which two propellers are attached to the ends of this beam. Hence, we have a recent one-degree aerial device, and instead of using a ball, we employ a mass moving on the beam, presenting friction on position to its movements on the beam. Then, the control objective is to regulate the mass position at some predefined zone on the beam, ensuring stability and robustness in front of external perturbations and unmodeled uncertainties. To do so, we define a classical PI controller. To assess closed-loop robustness, a mass was introduced to one propeller to induce perturbation, thereby simulating modeling variations or disturbances. The experimental results prove the goodness of our experimental platform for drone applications.

Angle Calculus-Based Thrust Force Determination on the Blades of a 10 kW Wind Turbine

In this article, the behavior of the thrust force on the blades of a 10 kW wind turbine was obtained by considering the characteristic wind speed of the Isthmus of Tehuantepec. Analyzing mechanical forces is essential to efficiently and safely design the different elements that make up the wind turbine because the thrust forces are related to the location point and the blade rotation. For this reason, the thrust force generated in each of the three blades of a low-power wind turbine was analyzed. The angular position (θ) of each blade varied from 0° to 120°, the blades were segmented (r), and different wind speeds were tested, such as cutting, design, average, and maximum. The results demonstrate that the thrust force increases proportionally with increasing wind speed and height, but it behaves differently on each blade segment and each angular position. This method determines the angular position and the exact blade segment where the smallest and the most considerable thrust force occurred. Blade 1, positioned at an angular position of 90°, is the blade most affected by the thrust force on P15. When the blade rotates 180°, the thrust force decreases by 9.09 N; this represents a 66.74% decrease. In addition, this study allows the designers to know the blade deflection caused by the thrust force. This information can be used to avoid collision with the tower. The thrust forces caused blade deflections of 10% to 13% concerning the rotor radius used in this study. These results guarantee the operation of the tested generator under their working conditions.

Improvement of lithium battery corner detection accuracy based on image restoration method

Target detection technology has been widely used in the automatic production of lithium batteries. However, motion blur will lead to the reduction of the angular position detection accuracy of lithium batteries. To solve this problem, an improved fuzzy recovery model for angular position of lithium battery is proposed in this paper. Firstly, the improved lightweight neural network RepVGG was used as the main module of the backbone network, so that the network could improve the performance of network feature extraction while reducing the number of calculation parameters and improving the reasoning speed of fuzzy restoration. Secondly, we optimize the multi-Dconv head transposed attention (MDTA) module and reference it to the generator, which reduces the complexity of the model and strengthens the network’s attention to details and textures, and improves the visual effect of the restored image. Finally, we design a lightweight globally connectable residual network called SAC Block and use it to to improve the discriminator, which enhances the global receptive field of the model and improves the structural similarity between the restored image and the original image. In order to verify the effectiveness of the method, we verify it on the self-built dataset and GoPro dataset. The experiments show that our proposed lightweight model improves the peak signal-to-noise ratio (PSNR) index by 9.2% and 8.6% respectively compared with the original model. The visual effect of the restored image is better than that of other current similar algorithms, and it is confirmed that our model can better improve the accuracy of lithium battery angular position detection.

Influence of parameter measurement errors on the three-dimensional radar image forming in a distributed radar consisting of a rotating receiving and stationary transmit-receive modules

The purpose of the article is to consider the influence of the accuracy of measuring the rotation parameters of the routing receiving antenna and observation conditions on the formation of 3D radar images using a distributed radar consisting of a rotating receiver, and a fixed stationary transceiver antenna. The article provides a detailed mathematical description of the process of calculating the standard deviation of the height measurement of the observed terrain depending on the next parameters: the slant range, the height of the radar carrier, the radius of rotation of the phase center of the receiving antenna, the vertical distance between the plane of rotation of the phase center of the receiving antenna and the phase center of the transceiver antenna, the phase of the signal at the output of the interferometer, and the angular position of the phase center for the receiving antenna. The impact of errors has been evaluated using mathematical modeling. The presented modeling results show that errors in measuring the rotation parameters and observation conditions lead to errors in the reconstruction of the topography of the observed area. In particular, errors in estimating the signal phase at the interferometer output have been studied; the results showed that the errors in estimating the height of the studied points on the Earth's surface can reach 1 m with signal-to-noise ratio (SNR) of 20 dB and more than 10 m at 5 dB. In addition, with a SNR of 5 dB, it has been observed a distortion of the reconstructed terrain and violation of its contrast. In this case, the standard deviation of the measurement of relief height significantly depends on the angular position of the phase center of the receiving antenna. In this regard, to ensure a minimum error in estimating the height of the earth's surface using the interferometric system implemented by a stationary transceiver module and the circularly rotating receiving module, it is necessary to correctly choose the time corresponding to the angle of rotation of the phase center receiving antenna.

A fold catastrophe potential illustrated with a pure mechanical apparatus

We present an apparatus consisting of a bar tightly connected to a disc, that acts as a pulley, free to rotate around its axis. A body is suspended by means of a thread that is wrapped around the collar of the pulley. Depending on the values of the masses and also on the geometric parameters of the various parts of the apparatus, the system may, or may not, stay in static equilibrium. When it moves, the system may perform stable oscillations around stability positions, or the body continuously falls down, while the pulley executes a sequence of complete rotations. We analyse these very diverse behaviours, basing the discussion on the shape of the potential energy, plotted as a function of the angular position of the system, stressing that the experiment provides a very good example of a fold catastrophe potential, besides being funny and pedagogically very valuable.

Heliospheric Diffusion of Stochastic Parker Spirals in Radially Evolving Solar Wind Turbulence

We present a stochastic field line mapping model where the interplanetary magnetic field lines are described by a density distribution function satisfying a Fokker–Planck equation that is solved numerically. Due to the spiral geometry of the nominal Parker field and to the evolving nature of solar wind turbulence, the heliospheric diffusion of the magnetic field lines is both heterogeneous and anisotropic, including a radial component. The longitudinal distributions of the magnetic field lines are shown to be close to circular Gaussian distributions, although they develop a noticeable skewness. The magnetic field lines emanating from the Sun are found to differ, on average, from the spirals predicted by Parker. Although the spirals remain close to Archimedean, they are here underwound, on average. Our model predicts a spiral angle that is smaller by ∼5° than the Parker spiral angle at Earth’s orbit for the same solar wind speed of V sw = 400 km s−1. It also predicts an angular position on the solar disk of the best magnetically connected footpoint to an observer at 1 au that is shifted westward by ∼10° with respect to the Parker’s field model. This significantly changes the angle of the most probable magnetic connection between possible sources on the Sun and observers in the inner heliosphere. The results have direct implications for the heliospheric transport of “scatter-free” electrons accelerated in the aftermath of solar eruptions.

Experimental Measurement and Analysis of the Self and Mutual Inductances in Two Different Switched Reluctance Machines

This paper aims to present a comparative study among the self and the mutual inductances of a 6x4 switched reluctance machine prototype. Se same study was made with a French origin 8 x 6 machine. The second study confirmed the conclusions on the first one. Mechanical adaptations were made in the test bench to strongly block the rotor of the machines in any previously defined position in order to allow the experimental measurements. At each rotor angular position data were collected for different currents, step by step. The rotor position was also changed step by step from the aligned position to the position of minimum inductance. A data bank was constructed depending on both: rotor angular position and current. A mathematical model taking into account the mutual inductances is presented. Also are presented simulations results using the data got in the test bench. Results of simulations made with and without the mutual inductances values were compared. Surfaces that represent the inductances are presented for both machines. The results analyses show that the mutual inductances may have important influence in the simulation, design and, therefore, in the switched reluctance machines performance.

Effects of the Mutual inductances on the Switched Reluctance Machines

There are many studies which discuss the mutual inductances in the Switched Reluctance Machine – SRM. Most of these studies said that the influence of inductance is negligible. In this paper the influences of those inductances are analyzed. This work presents experimental measures and analysis of these quantities on prototypes of SRM with various settings aiming to contribute to the knowledge of the subject. The variations of the inductance profile due to the current in the active phase, the angular position of the rotor and saturation are taken into account. Surfaces are presented to summarize the behavior of the self inductance and of the mutual inductances gotten from different machines. It is presented the simulation of the SRM in generator mode taking into account the mutual inductances. The results are presented and discussed conclusively, and then some propositions are made. The results presented here reveal the relative dimension and the influence of the mutual inductances and show that they have the potential to indicate the position of the rotor of the machine, thus avoiding the use of electronic sensors allowing sensorless techniques. Furthermore, this article highlights the importance of considering the mutual inductances in the design, mathematical modeling and simulation of SRM in order to improve de machine performance.

Beyond 10log10M array gain: A beamforming method under non-Gaussian noise and multi-sources

Recently, deep learning techniques have been applied in the field of direction of arrival (DOA) to enhance beamforming in various practical applications, such as traffic positioning and hydro-acoustic detection. However, the effectiveness of these algorithms relies heavily on the availability of accurate training data that closely resembles real-world data, which can be challenging to obtain, particularly in hydro-acoustic environments. This is primarily due to the limited array gain (AG) and the constant fluctuations in ambient noise. Additionally, the presence of non-Gaussian noise in the background further complicates the process of identifying the desired signal, and it is worth noting that state-of-the-art deep learning methods have a limitation in detecting up to four sources. To address these challenges, we propose a novel method that employs a diagonal beam spectrum (DBS) feature to suppress non-Gaussian noise and enhance array gain. By incorporating DBS, our method surpasses the theoretical 10logM array gain and achieves an impressive 25logM array gain, while effectively detecting signals as low as -38dB (where M denotes the number of sensors). We also employ SA-U-NET, an image edge detection network based on DBS, to detect more than four sound sources and optimize angular positioning. The experiments focus on accuracy and array gain improvements of algorithms. Our proposed method achieves up to 91.67% correctness and 35dB array gain (i.e., 4 times better than the next best baseline) in experiments compared to other methods, demonstrating the potential of DBS and SA-U-NET.

A Technique for Estimating the Pitch of Interference Fringe Patterns for Pattern Exposure in a Non-Orthogonal One-Axis Lloyd’s Mirror Interferometer

A technique to realize in-situ evaluation of the pitch of interference fringe patterns in a non-orthogonal Lloyd’s mirror interferometer is proposed. The proposed method employs two laser sources with different wavelengths. Two magnified collimated laser beams with different wavelengths are then projected onto a non-orthogonal Lloyd’s mirror interferometer to generate interference fringe patterns with different pitches. The interference fringe patterns with a pitch g1 generated by a laser beam with a wavelength λ1 sensitive to the photoresist layer are employed for the pattern exposure, while the ones generated by a laser beam with a wavelength λ2 insensitive to the photoresist layer are employed to be observed by a microscopic optical system located at the back of the exposure substrate. This enables the estimation of the pitch of the interference fringe patterns with the pitch g1 during the exposure process in optical interference lithography, contributing to accelerating the alignment of the angular position of the reflective mirror in the interferometer. A prototype optical setup consisting of a beam-collimating unit with two laser sources having wavelengths of 405 nm and 780 nm, a non-orthogonal one-axis Lloyd’s mirror interferometer unit, and a microscopic optical system is designed and developed, and experiments are conducted to demonstrate the feasibility of the proposed technique of estimating the pitch of interference fringe patterns for pattern exposure.

Hydrodynamic force interaction of two fixed spheres in a wall-bounded linear shear flow

We examine the modulations of the drag coefficient Cd and lift coefficient Cl on a spherical particle caused by the presence of a neighboring sphere when positioned in close proximity to a wall. Data are generated through the utilization of a fast and accurate Particle-Resolved Direct Numerical Simulation (PR-DNS) method that relies on the Direction-Splitting algorithm and that was extensively validated in our prior study (Goyal and Wachs, 2023a, 2023b; Morente et al., 2023). We further validate the method in the flow configuration of the present study by comparing them with data published in the literature. We consider three Reynolds numbers Re=20, Re=50 and Re=100, which describe the flow conditions in the vicinity of the wall. The primary sphere is positioned at a distance δ from the wall, while the neighboring sphere is positioned at a constant distance from the primary sphere encompassing all possible angular positions θ. We report the modulations of Cd and Cl compared to a situation without any neighboring sphere as a function of δ, θ and Re. The inclusion of a wall intensifies the influence of the neighboring sphere on the primary sphere and significantly modifies the values of Cd and Cl. We attempt to relate the values of the modulations of Cd and Cl to the modulations in the contours of the pressure and of the spanwise vorticity on the surface of the primary sphere. We take advantage of the periodic nature of Cd and Cl as a function of the relative angular position θ of the neighboring sphere and propose a Fourier Predictive Model (FPM) to effectively represent the data using a finite number of modes in the cosine Fourier series. We show that our FPM is able to estimate the modulations of Cd and Cl excellently with a coefficient of determination R2≳0.99 in the parameter space investigated in our study.

Multi-Point Control for Face-Milled Spiral Bevel Gears with a Predesigned Fourth-Order Motion Curve

This paper presents an ultimate motion methodology of a face-milling spiral bevel gear pair to synthesize the mating tooth surfaces with a predesigned fourth-order motion curve. The methodology is to control some contact points along the contact path in the process of tooth contact analysis via application of an extended local synthesis which permits some transmission errors rather than zero at the concerned contact point. The modified offset motion correction is selected to demonstrate the proposed methodology. Applied torque corresponding to an elastic approach of 0.00635 mm at the mean contact point is calculated and the loaded tooth contact analysis is performed. Numerical results show that the extended local synthesis can effectively control the transmission errors on the predesigned fourth-order motion curve at arbitrarily predesigned contact points along the contact path of the spiral bevel gear pair. The tooth contact pattern for the actual tooth pair is scattered into three segments since the rotational motion of the driven gear at any instant angular position is dependent on the tooth pair with the least transmission error among the three adjacent tooth pairs. The actual tooth contact patterns of the spiral bevel gear pair become continuous when meshing tooth surfaces are elastically deformed.

Influence of rotary axis angular positioning error motions on robotic probing

The accuracy of touch-trigger probing by a six-axis robotic manipulator is determined by the accuracy of the robot forward kinematic model to estimate the stylus sphere position from angular positions of rotary axes. Many conventional studies have employed the Denavit–Hartenberg (DH) model, containing position and orientation errors of the rotary axis average lines as error sources. This paper proposes the application of a new kinematic model, containing the angular positioning deviations of all the rotary axes, to the robotic probing. The probing accuracy is experimentally investigated in profile probing of a straightedge over the robot's workspace.