摘要
从提高位置精度出发,采用了基于圆光栅全闭环反馈的回转关节控制方案。在分析传统运动精度补偿方法的基础上,结合激光干涉仪回转轴校准系统对位置精度的检测结果,建立了一种综合考虑大周期误差及小周期误差的三次封闭样条与三角函数相叠加的回转运动误差补偿模型,从而使定点误差测量结果能够应用到整个行程区间的准确补偿。在兼顾精度和效率的基础上提出了相应的无累积误差的补偿算法以提高误差补偿精度并进行了实验,使补偿后的残留误差标准差减小了47.4%,表明该方法可有效提高回转关节位置精度。
Aimming at high positioning accuracy demands of revolute joint, the closed-loop feed- back using circular grating was adopted. Based on analyses of traditional method of positioning error compensation and results of positioning error testing using laser rotary axis calibration system, rotation error compensation model was established,which was composed of a cubic closed spline function and triangle functions, considering large periodic errors and small periodic errors. Thus, the precision position compensation of the whole range of rotating was realized using point testing results. Corresponding compensation algorithm without cumulative error was proposed to improve the rotating motion precision with consideration of both accuracy and efficiency. Experiments were carried out and the results bear out the claims with the standard deviation of residual errors decrease by 47.4%.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2008年第23期2782-2786,共5页
China Mechanical Engineering
基金
高等学校博士学科点专项科研基金资助项目(20050700007)
关键词
圆光栅
补偿算法
位置精度
误差模型
校准系统
circular grating
compensation algorithm
positioning accuracy
error model
calibration system
