Adaptive compensation of quasi-static errors for an intrinsic machine

An adaptive compensation strategy for quasi-static error correction in intr insic machines is proposed and tested. The proposed methodology consists of systematic modelling of the machine forward kinematics, including quasi-st atic errors, as well as direct modelling of the inverse kinematics using no nlinear regression analysis. The result is a model which is a hybrid of phy sical modelling and regression analysis modelling. In addition, the methodo logy includes a compensation strategy of the machine contouring errors usin g the state observer technique for on-line adaptive compensation. A CMM is chosen as a test bed for validation of the proposed methodology. Systematic modelling is carried out in two stages for the forward and inverse kinemat ics. Regression based models are verified using two different tests. The st atistical analysis of variance technique (ANOVA) is used to select the best model in addition to model testing using an independent set equal to appro ximately 10% of the fitting data, The obtained models are then employed in two compensation strategies; one for the measurement error correction, and another one for the contouring error correction by motion command modificat ion in the forward control path. For contouring tests, the CMM behavior at different thermal states is estimated using experimentally obtained Effecti ve Coefficient of Thermal Expansion (ECTE). Simulations of the machine in c ontouring selected trajectories are carried out over a range of thermal sta tes. Results obtained show an improvement in the CMM performance to a level close to the machine resolution. The CMM performance is tested using the s tandard ASME B.89.1.12M-1990 evaluation test, as well as a novel modified v ersion of the test accounting for a thermally varying environment. Machine errors are significantly reduced using the proposed methodology. (C) 2000 E lsevier Science Ltd. All rights reserved.