Abstract: The present disclosure relates to a portable printer including a main body in a portable form which is capable of accommodating a cartridge having a nozzle for delivering a printing material to a target having a soft or hard surface, a seating part which is provided to be exposed to an outside from a lower portion of the main body to face the surface of the target and at least partially surrounds the nozzle, a roller provided respectively at the front and rear of the nozzle at the lower portion of the main body with respect to a direction in which the main body moves along the surface of the target to deliver the printing material to the target, and a printing adjustment unit configured to adjust a height difference between the nozzle and the roller to adjust a height difference between the nozzle and the surface of the target.

Abstract: A method and apparatus for estimating error in a multi-axis controlled machine is applicable to any type of machine configuration in order to estimate and confirm in advance the final position and the posture of the machine, which are produced when geometric errors of the machine are synthesized. The method includes defining the structure of the multi-axis controlled machine subjected to error estimation; and defining parameters, which represent behaviors of drive axes having geometric error and relationships between the drive axes according to the defined structure of the multi-axis controlled machine, adding the defined parameters by applying the parameters to a generalized error synthesis model, and generating an error synthesis model of the multi-axis controlled machine by applying a result of parametric modeling in response to a result of the adding.

Abstract: An error compensation method for multi-axis controlled machines generates an error compensation model for compensating for geometric error of a multi-axis controlled machine by separating an error matrix of a tool tip from an error synthesis model of a multi-axis controlled machine and calculates an error compensation value using the error compensation model and an inverse kinematic model so that the error matrix becomes an identity matrix. The error compensation method can reduce calculation error and calculation time due to complicated numerical analysis and compensate for error in the multi-axis controlled machine, regardless of its configuration.

Abstract: An error compensation method for multi-axis controlled machines generates an error compensation model for compensating for geometric error of a multi-axis controlled machine by separating an error matrix of a tool tip from an error synthesis model of a multi-axis controlled machine and calculates an error compensation value using the error compensation model and an inverse kinematic model so that the error matrix becomes an identity matrix. The error compensation method can reduce calculation error and calculation time due to complicated numerical analysis and compensate for error in the multi-axis controlled machine, regardless of its configuration.

Abstract: A method and apparatus for estimating error in a multi-axis controlled machine is applicable to any type of machine configuration in order to estimate and confirm in advance the final position and the posture of the machine, which are produced when geometric errors of the machine are synthesized. The method includes defining the structure of the multi-axis controlled machine subjected to error estimation; and defining parameters, which represent behaviors of drive axes having geometric error and relationships between the drive axes according to the defined structure of the multi-axis controlled machine, adding the defined parameters by applying the parameters to a generalized error synthesis model, and generating an error synthesis model of the multi-axis controlled machine by applying a result of parametric modeling in response to a result of the adding.