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Method and apparatus for estimating error in multi-axis controlled machine

  • US 8,700,369 B2
  • Filed: 04/28/2010
  • Issued: 04/15/2014
  • Est. Priority Date: 03/02/2010
  • Status: Active Grant
First Claim
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1. A method for estimating error in a multi-axis controlled machine comprising:

  • defining the structure of the multi-axis controlled machine subjected to error estimation;

    determining local coordinate systems for each link of the multi-axis controlled machine;

    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;

    performing parametric modeling on error measurement data, which are measured from the multi-axis controlled machine;

    generating an error synthesis model of the multi-axis controlled machine by applying the result of parametric modeling in response to the result of the adding;

    wherein the generalized error synthesis model is consisting of;

    kinematic modeling of drive axes, which include kinematic error models of linear and rotary axes;

    modeling one or more drive axes by arranging the drive axes in forward or backward direction with respect to a reference coordinate system; and

    omitting higher order terms of errors from the kinematic error modeling, which includes arranging the drive axes; and

    wherein the generalized error synthesis model is expressed by formulas;

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