Actual inverse kinematics for position-independent and position-dependent geometric error compensation of five-axis machine tools

This paper proposes an efficient actual inverse kinematics method to compensate the geometric errors of five-axis machine tools. The analytical expressions of corrected numerical control (NC) code are derived according to the invertibility, associative law of multiplication, and block calculation of...

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Bibliographic Details
Published in:International journal of machine tools & manufacture Vol. 111; pp. 55 - 62
Main Authors: Ding, Shuang, Huang, Xiaodiao, Yu, Chunjian, Wang, Wei
Format: Journal Article
Language:English
Published: Elmsford Elsevier Ltd 01.12.2016
Elsevier BV
Subjects:
Actual inverse kinematics
Computer simulation
Computing time
Error compensation
Error correction
Five-axis machine tool
Geometric error
Inverse kinematics
Iterative methods
Kinematics
Machine tools
Mathematical analysis
Mathematical models
Numerical controls
Real-time compensation
Transformations (mathematics)
Actual inverse kinematics
Five-axis machine tool
Geometric error
Real-time compensation
ISSN:0890-6955, 1879-2170
Online Access:Get full text
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Summary:This paper proposes an efficient actual inverse kinematics method to compensate the geometric errors of five-axis machine tools. The analytical expressions of corrected numerical control (NC) code are derived according to the invertibility, associative law of multiplication, and block calculation of homogenous transformation matrix (HTM). No additional analysis and models are needed for the compensated expressions, appropriate conversion with the geometric error model based on HTM is sufficient. It is simple, convenient and universal for geometric error compensation. The corrected NC code can be obtained through algebraic operation, without time-consuming iteration, differential, or pseudo-inverse algorithm. Then compensation accuracy and efficiency of the method are simulated. And the results indicate higher efficiency compared to existing method. At last, the method is verified by cutting experiment on a five-axis machine tool. Both simulation and experiment results can validate the feasibility of the method. The proposed method significantly improves the computation efficiency and is considered more suitable for real-time compensation. •Actual inverse kinematics for geometric error compensation is firstly proposed.•The basic compensation idea can be applied to any other structure of machine tools.•The proposed compensation strategy has higher efficiency than the existing method.•Simulation and experiment are conducted to verify the efficient of proposed method.
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ISSN:0890-6955
1879-2170
DOI:10.1016/j.ijmachtools.2016.10.001