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

Yi Hu1, Yuyi Zhan1, Liang Han1

  • 1School of Instrument Science and Opto-electronics Engineering, Hefei University of Technology, Hefei 230009, China.

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|March 25, 2020
PubMed
Summary
This summary is machine-generated.

This study addresses low absolute positioning accuracy in integrated joint modules for robotic arms. An error model was developed and applied, reducing angle errors by an average of 82.03% for improved coordinate measuring machine performance.

Keywords:
angle error compensationharmonic analysisintegrated joint modulemagnetic encoder

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Area of Science:

  • Robotics and Mechatronics
  • Metrology and Measurement Science

Background:

  • Integrated joint modules offer high precision but suffer from low absolute positioning accuracy, hindering their use in advanced applications like self-driven articulated arm coordinate measuring machines.
  • Accurate angle measurement is critical for the functionality of articulated arms in metrology.

Purpose of the Study:

  • To analyze the sources of angle error in integrated joint modules.
  • To establish an effective error model for angle compensation.
  • To validate the model's application in self-driven articulated arm coordinate measuring machines.

Main Methods:

  • Analysis of joint module angle error sources.
  • Development of an error model based on harmonic analysis.
  • Calibration of integrated joint modules on a custom platform.
  • Experimental compensation of angle errors.

Main Results:

  • An angle error model based on harmonic analysis was successfully established.
  • Calibration yielded model parameters for two integrated joint modules.
  • Experimental results showed an average reduction of 82.03% in joint module angle error after compensation.

Conclusions:

  • The developed angle error model effectively compensates for inaccuracies in integrated joint modules.
  • The compensated modules are suitable for integration into self-driven articulated arm coordinate measuring machines.
  • This research significantly enhances the precision of robotic metrology systems.