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1. Introduction
Parallel robots have become an excellent solution for
applications where precise positioning and orientation are
needed. Although their workspace is limited as compared
to serial robots, parallel robots take advantage of their
dynamic stability, high stiffness and high pose accuracy.
Therefore, they are suited to very precise applications,
such as machine tools, surgery devices and scientific
instruments, like radio-astronomy telescopes. Due to
their design, there is no one-to-one relationship between
controllable variables and degrees-of-freedom (DOF), and
each controllable variable affects all DOFs (and vice
versa). Therefore, the determination of an end-effector
pose requires special algorithms. Besides the complexity
of the mechanisms kinematics, the pose error depends
mainly on the accuracy of the actuators, the control scheme
and the elastic deformations.
Eusebio Hernandez, Sergio
and Eduardo
Sanchez:
On10.5772/58849
the Numerical
Int Ivvan
J Adv Valdez
Robot Syst,
2014, 11:179
| doi:
Modelling and Error Compensation for General Gough-Stewart Platform
a)
b)
Figure 2. A leg for a Gough-Stewart platform: a) actual leg, b) a
a)
b)
Figure 3.
Data acquisition with calibration equipment
RENISHAW ML10
1.5
1.5
1
1
0.5
error
error
0.5
0.5
0
1
1.5
0.5
2
1
2.5
1.5
0
50
100
150
200
250
300
350
400
50
100
150
200
measures
250
300
350
400
250
300
350
400
250
300
350
400
measures
Leg 1
Leg 2
0.2
0.2
1
0.4
error
errors
0
0.6
1
0.8
2
1
1.2
1.4
0
50
100
150
200
250
300
350
400
50
100
150
200
measures
measures
Leg 3
Leg 4
2.5
3.5
3
1.5
2.5
errors
errors
1
2
1.5
0.5
0
1
0.5
0.5
0.5
1.5
0
50
100
150
200
250
300
350
400
50
100
150
200
measures
measures
Leg 5
Leg 6
Figure 4. A set of displacement error measures of the six legs for the Gough-Stewart platform. The units are micrometres.
Fk =
N 1
n =0
f n ei2 N n
(2)
Error Leg 2
0.5
0.0
Error (mm)
1.5
1.0
0.5
Error (mm)
1.0
1.5
Error Leg 1
50
50
50
Length (micrometers)
50
Length (micrometers)
Error Leg 3
0.2
0.0
0.6
0.4
0.2
0
1
Error (mm)
Error (micrometers)
0.4
Error Leg 4
50
50
50
Error Leg 6
1
1
Error (mm)
Error Leg 5
Error (mm)
50
Length (micrometers)
Length (micrometers)
50
50
50
Length (micrometers)
50
Length (micrometers)
Figure 5. Compensation for displacement leg errors of the Gough-Stewart platform: brown lines - set of measured data for each leg; blue
line - error compensation function; red line - mean of compensated displacement errors; green lines - compensated errors for each set of
measures; black lines - plus and minus of the standard deviation for the compensated displacement errors. N.B. The units are micrometres.
Error Leg 3
Re( Fk )2 + Im( Fk )2 ,
(3)
(4)
Error (mm)
Ak = | Fk | =
wk = k,
50
50
Length (micrometers)
k = 0..N 1.
(5)
f (t) =
is computed according to Equation 4, and finally, the
matched frequency is obtained with Equation 5:
f or
Ak cos(2k t + k ).
(6)
k =1
Eusebio Hernandez, Sergio Ivvan Valdez and Eduardo Sanchez: On the Numerical
Modelling and Error Compensation for General Gough-Stewart Platform
20
0
Error (micrometers)
20
15
10
0
10
15
Frequency
20
25
Error (micrometers)
0.5
0.0
0.5
1.0
1.0
0.5
0.0
0.5
1.0
Error (micrometers)
20
15
5
0
10
15
Frequency
20
25
Error (micrometers)
25
1.0
10
Frequency
15
5
0
25
Frequency
10
Frequency
15
10
0
Frequency
20
25
25
0.0
0.5
1.0
1.5
2.0
2.5
Error (micrometers)
0.0
0.5
1.0
1.5
2.0
2.5
Error (micrometers)
Figure 7. Histogram of the leg errors of the Gough-Stewart platform, Legs 1-3. Left: original displacement error. Right: compensated
error.
t = 2( x 1095.84992501338 + 90)/N.
(7)
20
0.2
0.4
0.6
0.4
0.2
0.0
0.2
0.4
0.6
Error (micrometers)
Error (micrometers)
20
15
0
10
Frequency
20
15
10
0
20
15
5
0
10
15
Frequency
20
25
Error (micrometers)
25
Error (micrometers)
10
Frequency
15
5
0
0.0
25
0.2
25
0.4
Frequency
10
Frequency
15
10
0
Frequency
20
25
25
2.0
1.5
1.0
0.5
0.0
0.5
1.0
Error (micrometers)
2.0
1.5
1.0
0.5
0.0
0.5
1.0
Error (micrometers)
Figure 8. Histogram of the leg errors of the Gough-Stewart platform, Legs 4-6. Left: original displacement error. Right: compensated
error.
20
15
0
10
Frequency
15
10
0
Frequency
20
25
25
Histogram, error of X
Error (micrometers)
25
20
15
10
0
10
15
Frequency
20
25
Frequency
Error (micrometers)
Histogram, error of Y
Error (micrometers)
Error (micrometers)
20
15
10
5
0
10
15
Frequency
20
25
25
Histogram, error of Z
Frequency
1.0
0.5
0.0
0.5
Error (micrometers)
1.0
0.5
0.0
0.5
Error (micrometers)
Figure 9. Histogram of the end-effector position errors for the Gough-Stewart platform. Left: original error. Right: compensated error.
20
15
0
10
Frequency
15
10
0
Frequency
20
25
25
0.001
0.000
0.001
0.002
0.003
0.004
0.005
0.001
0.000
Error (radians)
0.002
0.003
0.004
0.005
Error (radians)
20
15
10
5
0
10
15
Frequency
20
25
25
Frequency
0.001
0.002
0.000
0.002
0.004
0.002
Error (radians)
0.000
0.002
0.004
Error (radians)
Figure 10. Histogram of the end-effector orientation errors for the Gough-Stewart platform. Left: original error. Right: compensated
error.
Table 1. Range and absolute value of the errors for the original
data and for the compensated error. | Error |= Error absolute
value. N.B. The units are micrometres.
Eusebio Hernandez, Sergio Ivvan Valdez and Eduardo Sanchez: On the Numerical
Modelling and Error Compensation for General Gough-Stewart Platform
x
0.8783
y
0.1403
z
Angle 1 Angle 2
0.3828 3.557e-3 2.88e-3
-3.496
-2.318
1.14e-3
1.109
0.6639
0.4520
6. Acknowledgements
5. Conclusions
This work presents a methodology to compensate
the displacement leg errors of general Gough-Stewart
platforms. The methodology can be applied to any
parallel mechanism taking into account the following
considerations:
The error data must present a pattern.
This
methodology is intended for deterministic errors which
follow a pattern, as can be seen in Figure 4; the
error does not seem to be generated from underlying
stochastic phenomena but rather from a deterministic
issue. Moreover, the errors are quite similar for the
six legs; hence, the hypothesis that the bias is due
to a mechanical, manufacturing or assembly issue is
quite plausible. These reasons are important because:
1) If the error comes from stochastic phenomena, it
must therefore be modelled as a random variable with
some underlying distribution, and the compensation
effectiveness must be tested according to statistical
evidence. 2) If the error comes from deterministic
phenomena (or else in a greatest proportion), then our a
deterministic function must be represented accurately,
not only according to the data we get from physical
experiments, but also within the whole continuous
range of application. Thus, the interpolation used in
this work makes sense. These two assumptions have
been adopted in this work based on the analysis of the
empirical evidence plotted and discussed throughout
the paper.
The direct and inverse kinematics must be solved with
sufficient accuracy (an least an order of magnitude
lower than the physical error) in order to avoid an
erroneous interpretation of the numerical results.
The number of parameters must be chosen according
to the desired error reduction and the simplicity of the
model. Notice that there is a compromise between
the number of parameters and the error compensation.
If the error data present only low frequencies, few
parameters are needed.
According to our results, the range of each legs error is
reduced by between 80 and 90 %. A similar reduction
is achieved in the end-effector. The numerical, graphical
and statistical measures and plots show that the proposal
reduces the error considerably.
Finally, in the future we will contemplate using different
functions which are not directly derived from the Fourier
transform. Notice that the Fourier transform imposes
the frequencies used for representing the function, and
as such perhaps a simpler model could be used if the
basis functions were different to those used in the Fourier
transform.
Eusebio Hernandez, Sergio Ivvan Valdez and Eduardo Sanchez: On the Numerical
Modelling and Error Compensation for General Gough-Stewart Platform
11