Error compensation method for multi-axis controlled machines
AssigneeKyungpook National University Industry-Academic Cooperation Foundation
InventorsSeung-Han Yang, Sung-Hwan Kweon, Dong-Mok Lee
Life of this patent
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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.
Claims3
An error compensation method for multi-axis controlled machines comprising:
- generating an error compensation model by separating an error matrix of a tool tip from an error synthesis model of a multi-axis controlled machine, whereby the error compensation model compensates for geometric error of the multi-axis controlled machine;
- and
- calculating an error compensation value using the error compensation model and an inverse kinematic model so that the error matrix becomes an identity matrix;
- wherein the error compensation model is expressed by a following formula:
- τp,Nt(rC)=τp,Nt(rN)[Ept(rC)]*,
- wherein rC is the error compensation value,
- τtp,N(rC) is tool posture which does not include an error of the rC,
- rN is a nominal value,
- τtp,N(rN) is tool posture which does not include an error of the rN, and
- [Etp(rC)]* is an inverse matrix of an error matrix of the error compensation value rC and is an approximate formula produced by omitting error terms from [Etp(rC)]−1.
Dependencies are inferred from the claim text.