Circular Grating Eccentric Testing and Error Compensation for Robot Joint Using Double Reading Head
نویسنده
چکیده
The circular grating is used as the measurement standard component in the robot joint-angle test system, however the measurement error is inevitable due to the installation eccentricity. In order to correct the measurement error, both the compensation model and eccentric detection test are needed to be investigated. Firstly, the compensation model about angular error is deduced according to the relationship between the angular error and the eccentric parameters. Secondly, we proposed a method to detect the grating eccentricity and eccentric direction by using double reading head. The eccentric parameters of grating is obtained from the Lissajous plot, which is generated by the composite signals. Finally, the experiment results show that the amended angular accuracy has been greatly improved.
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