Method and apparatus for estimating error in multi-axis controlled machine
First Claim
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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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.
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Citations
11 Claims
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1. A method for estimating error in a multi-axis controlled machine comprising:
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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; - View Dependent Claims (2, 3, 4, 5, 6)
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7. An apparatus for estimating error in a multi-axis controlled machine, comprising:
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a machine configuration definition module for defining a topology of a machine subjected to error estimation; an error synthesis module for 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; and an error mapping module for creating a virtual coordinate, which includes error of a designated shape to be processed or at a position to be confirmed, using the error synthesis model, and generating an error map, which visually expresses the produced imaginary point; wherein the generalized error synthesis model is derived by selecting one or more from the group 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; - View Dependent Claims (8, 9, 10, 11)
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Specification