scholarly journals An Angle Error Compensation Method Based on Harmonic Analysis for Integrated Joint Modules

Sensors ◽  
2020 ◽  
Vol 20 (6) ◽  
pp. 1715
Author(s):  
Yi Hu ◽  
Yuyi Zhan ◽  
Liang Han ◽  
Penghao Hu ◽  
Bing Ye ◽  
...  
Keyword(s):  
Harmonic Analysis ◽  
Coordinate Measuring Machine ◽  
Angle Measurement ◽  
Error Model ◽  
The Self ◽  
Model Parameters ◽  
Angle Error ◽  
Positioning Accuracy ◽  
Measuring Machine ◽  
High Repeatability

Nowadays, integrated joint modules are increasingly adopted in manipulators for their advantages of high integration, miniaturization and high repeatability positioning accuracy. The problem of generally low absolute positioning accuracy (namely angle measurement accuracy) must be solved before they can be introduced into the self-driven articulated arm coordinate measuring machine which is under study in our laboratory. In this study, the sources of joint module’s angle error were analyzed and the error model based on harmonic analysis was established. Two integrated joint modules were calibrated on the self-designed calibration platform and the model parameters were deduced, respectively. The angle error was then compensated in the experiments and the results demonstrated that the angle error of the joint modules was reduced by 82.03% on average. The established angle error model can be effectively applied into the self-driven articulated arm coordinated measuring machine.

scholarly journals Articulated Arm Coordinate Measuring Machine Calibration by Laser Tracker Multilateration

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Jorge Santolaria ◽  
Ana C. Majarena ◽  
David Samper ◽  
Agustín Brau ◽  
Jesús Velázquez
Keyword(s):  
Coordinate Measuring Machine ◽  
Spatial Localization ◽  
Model Parameters ◽  
Nominal Data ◽  
Identification Procedure ◽  
Calibration Algorithm ◽  
Measuring Machine ◽  
Euclidean Distances ◽  
Machine Calibration ◽  
Nonlinear Optimization Algorithm

A new procedure for the calibration of an articulated arm coordinate measuring machine (AACMM) is presented in this paper. First, a self-calibration algorithm of four laser trackers (LTs) is developed. The spatial localization of a retroreflector target, placed in different positions within the workspace, is determined by means of a geometric multilateration system constructed from the four LTs. Next, a nonlinear optimization algorithm for the identification procedure of the AACMM is explained. An objective function based on Euclidean distances and standard deviations is developed. This function is obtained from the captured nominal data (given by the LTs used as a gauge instrument) and the data obtained by the AACMM and compares the measured and calculated coordinates of the target to obtain the identified model parameters that minimize this difference. Finally, results show that the procedure presented, using the measurements of the LTs as a gauge instrument, is very effective by improving the AACMM precision.

Error Modeling and Analysis of Articulated Arm Coordinate Measuring Machines

2013 ◽  
Vol 798-799 ◽  
pp. 464-467
Author(s):  
Jian Lu ◽  
Guan Bin Gao ◽  
Hui Ping Yang
Keyword(s):  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Calibration Method ◽  
Error Model ◽  
Error Modeling ◽  
Modeling And Analysis ◽  
Low Weight ◽  
New Type ◽  
Measuring Machine ◽  
Value Decomposition

The Articulated Arm Coordinate Measuring Machine (AACMM) is a new type of non-orthogonal system precision instrument with the advantages of large measuring range, small volume, low weight and portability. To improve the measurement accuracy of AACMMs, an error analysis and calibration method for AACMMs is proposed. The kinematic model of the AACMM was established with D-H model, and then the error model of the AACMM was established on the basis of kinematic model with total differential transforming method and the singular value decomposition of Jacobian matrix and the decomposition of orthogonal matrix elementary row transform. Finally, the error model was validated by position error residual calculation. The error model provides a theoretical foundation for calibration and compensation of the AACMM.

Study on Harmonic Analysis and Error Correction in Synchro to Digital Conversion

2011 ◽  
Vol 225-226 ◽  
pp. 334-337 ◽  
Author(s):  
Yan Liu ◽  
Ze Gang Ye
Keyword(s):  
Harmonic Analysis ◽  
Error Correction ◽  
Measurement Method ◽  
Angle Measurement ◽  
Conversion Process ◽  
Matlab Simulation ◽  
Angle Error ◽  
Digital Conversion ◽  
Current Implementation ◽  
Improve Accuracy

The current implementation of the synchro to digital conversion (SDC) can not directly detect harmonic which can cause the problem of low precision angle measurement. To improve accuracy of angle, harmonic interference was analyzed and summarized in the axis-angle to digital conversion process. Through detailed research, a new angle measurement formula is proposed in this paper, this formula can be very good for angle error correction and compensation. In order to meet the practical requirements, a software measurement method based on FFT algorithm of harmonic analysis and error correction is put forward. Matlab simulation shows that the formula and method is effective and feasible.

Error Model and Calibration Analysis of the Flexible Coordinate Measuring Machine

2011 ◽  
Vol 121-126 ◽  
pp. 3273-3277 ◽  
Author(s):  
Fang Li ◽  
Shu Gui Liu ◽  
Lei Zhao
Keyword(s):  
Mathematical Model ◽  
Coordinate Measuring Machine ◽  
Least Square Method ◽  
Coefficient Matrix ◽  
Error Model ◽  
Least Square ◽  
Parameter Calibration ◽  
Measuring Machine ◽  
Improving Accuracy ◽  
The Mathematical Model

A new 5-DOF flexible coordinate measuring machine (CMM) is introduced in this paper, which uses REVO system produced by Renishaw. According to the D-H method, the mathematical model is built, and then the error model of the flexible CMM is derived. The parameter calibration based on the nonlinear least square method is analyzed theoretically. Due to the disadvantages of Gauss-Newton method, LM method is researched, which improved the singularity of the coefficient matrix. The calibration analysis is a basis for improving accuracy of the flexible CMM.

Kinematic Modeling and Error Analysis for a 3DOF Parallel-Link Coordinate Measuring Machine

2006 ◽  
Vol 532-533 ◽  
pp. 313-316 ◽  
Author(s):  
De Jun Liu ◽  
Hua Qing Liang ◽  
Hong Dong Yin ◽  
Bu Ren Qian
Keyword(s):  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Inverse Kinematic ◽  
Differential Method ◽  
Error Model ◽  
Structural Parameter ◽  
Kinematic Modeling ◽  
Position Errors ◽  
Measuring Machine ◽  
Parallel Link

First, the forward kinematic model, the inverse kinematic model and the error model of a kind of coordinate measuring machine (CMM) using 3-DOF parallel-link mechanism are established based on the spatial mechanics theory and the total differential method, and the error model is verified by computer simulation. Then, the influence of structural parameter errors on probe position errors is systematically considered. This research provides an essential theoretical basis for increasing the measuring accuracy of the parallel-link coordinate measuring machine. It is of particular importance to develop the prototype of the new measuring equipment.

Hardware Design of a Planar Platform for Naro-CMM

2013 ◽  
Vol 706-708 ◽  
pp. 1146-1149
Author(s):  
Hui Zhi Sun
Keyword(s):  
Hardware Design ◽  
Coordinate Measuring Machine ◽  
Modern Technology ◽  
Experimental Results ◽  
Power Module ◽  
Positioning Accuracy ◽  
Technology Platform ◽  
Fast Development ◽  
Measuring Machine ◽  
Planar Mode

Nanometer three Coordinate Measuring Machine (Naro-CMM) has got fast development especially in the advancement of modern technology. Platform is an important part of the Naro-CMM, paper puts forward a new way to drive platform. “Planar” mode is adopted, and the power module is designed based on L6234PD, the experimental results express that the positioning accuracy of the platform reaches nanometer accuracy. So the drive method satisfied the demand of this platform’s movement.

The Automatic Measurement of Complex Surface Based on ZOO-Type CMM

2014 ◽  
Vol 490-491 ◽  
pp. 1682-1685
Author(s):  
Shu Hong Zhou
Keyword(s):  
Technical Problem ◽  
Three Dimensional ◽  
Coordinate Measuring Machine ◽  
Automatic Measurement ◽  
Complex Surface ◽  
Mathematic Model ◽  
The Self ◽  
Geometric Characteristics ◽  
Self Study ◽  
Measuring Machine

In general, when using the three-dimensional measuring machine to test a workpiece, the measuring route should to be planned firstly. Regarding workpieces which are formed by elementary curve or surface, there are specific software installed in the Coordinate Measuring Machine which can be used to generate the measuring route. However, when there are workpieces with no mathematic model, measuring process usually has to be done by manual operation. In this paper, we concentrate on the technical problem of measuring the blade with complex surface. After analyzing the geometric characteristics of blade, we did research on the self-study function of the Coordinate Measuring Machine, and finally put forward a method to rewrite the self-study measuring program according to geometric characteristics, which will successfully realize the automatic measurement of complex curved surface.

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