Error Compensation for Multi-Axis Machines Using Inverse Kinematics
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Solution Overview
Problem
Multi-axis controlled machines face challenges in efficiently compensating for geometric errors, particularly in machines with four or more drive axes, due to the complexity of simultaneously addressing position and orientation errors, which hinders precise machining and requires cumbersome numerical calculations.
Innovation Solution
An error compensation method that separates the error matrix from the error synthesis model, using inverse kinematics and an approximate inverse matrix to calculate a compensation value, reducing calculation errors and time, and allowing real-time error correction regardless of machine configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the Newton-Raphson method is used for error compensation in multi-axis controlled machines, then the compensation can address both position and orientation errors, but the calculation complexity increases significantly and computation time increases
Solution Approach 1:
The patent segments the error compensation calculation into two distinct parts: position error compensation and orientation error compensation. By separating these calculations, the system avoids the complex iterative Newton-Raphson method while still achieving comprehensive error compensation for multi-axis machines.
Solution Approach 2:
The patent extracts and processes position errors and orientation errors separately through different calculation paths. Position errors are compensated through direct calculation while orientation errors are handled through rotation matrix operations, removing the need for complex unified iterative computation.
2Manufacturing precision
If the Newton-Raphson method is used for error compensation in multi-axis controlled machines, then the compensation can address both position and orientation errors, but the computation time increases
Solution Approach 1:
The patent segments the error compensation calculation into two distinct parts: position error compensation and orientation error compensation. By separating these calculations, the system avoids the complex iterative Newton-Raphson method while still achieving comprehensive error compensation for multi-axis machines.
Solution Approach 2:
The patent uses simplified calculation formulas that require less computational power and time, sacrificing some of the iterative refinement of Newton-Raphson method in exchange for faster, real-time capable error compensation suitable for NC controllers.
3Manufacturing precision
If comprehensive error compensation is implemented for multi-axis controlled machines with four or more axes, then machining precision is improved, but the device complexity and difficulty of implementation increase
Solution Approach 1:
The patent segments the error compensation calculation into two distinct parts: position error compensation and orientation error compensation. By separating these calculations, the system avoids the complex iterative Newton-Raphson method while still achieving comprehensive error compensation for multi-axis machines.
Solution Approach 2:
The patent changes the computational parameters from iterative numerical methods to direct calculation formulas involving rotation matrices and error synthesis models, making the system more suitable for real-time implementation in NC controllers with four or more axes.
Data Source
AI summary
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.