圆光栅闭环反馈回转关节高精度补偿方法研究.pdfVIP

19 23 2008 12 杨新刚 黄玉美 刘鸿雁 刘秀臣 芮宏斌 西安理工大学, 西安, 710048 : 从提高位置精度出发, 采用 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 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 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 实验, 使补偿后的残留误差标准差减小 474% , 表明该 方法可有效提高回转关节位置精度 : ; ; ; ; : T G659 : 1004 132X( 2008) 23 2782 05 Research on High- precision Compensation Method of Revolute Joint with Closed- loop Feedback by Circular Grating Yang Xingang H uang Yumei Liu Hong an Liu Xiuchen Rui Hongbin Xian U niversit of Technolog , Xian, 710048 Abstract: Aimming at high positioning accurac demands of revolute joint, the closed- loop feed- back using circular gr ating w as adopted. Based on anal ses of tr aditional method of positioning error compensation and results of positioning error testing using laser rotar ax is calibration s stem , rota- tion error compensation model w as established, w hich w as 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 w hole r ange of rotating w as realized using point testing results. Corre- sponding compensation algorithm w ithout cumulative error w as proposed to improve the rotating mo- tion precision w ith consideration of both accurac and efficienc . Experiments w ere carr ied out and the results bear out the claims w ith the standard deviation of residual errors decrease b 474%. Key words: circular grating ; compensation algorithm ; positioning accurac ; error model; calibra- tion s stem 0 引言 , , , , 2006