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

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          Abstract

          Nowadays, integrated joint modules are increasingly adopted in manipulators for their advantages of high integration, miniaturization and high repeatability positioning accuracy. The problem of generally low absolute positioning accuracy (namely angle measurement accuracy) must be solved before they can be introduced into the self-driven articulated arm coordinate measuring machine which is under study in our laboratory. In this study, the sources of joint module’s angle error were analyzed and the error model based on harmonic analysis was established. Two integrated joint modules were calibrated on the self-designed calibration platform and the model parameters were deduced, respectively. The angle error was then compensated in the experiments and the results demonstrated that the angle error of the joint modules was reduced by 82.03% on average. The established angle error model can be effectively applied into the self-driven articulated arm coordinated measuring machine.

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          Most cited references36

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          Kinematic parameter estimation technique for calibration and repeatability improvement of articulated arm coordinate measuring machines

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            A nonlinear model of a harmonic drive gear transmission

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              Inverse robot calibration using artificial neural networks

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                Author and article information

                Journal
                Sensors (Basel)
                Sensors (Basel)
                sensors
                Sensors (Basel, Switzerland)
                MDPI
                1424-8220
                19 March 2020
                March 2020
                : 20
                : 6
                : 1715
                Affiliations
                [1 ]School of Instrument Science and Opto-electronics Engineering, Hefei University of Technology, Hefei 230009, China; 2018170026@ 123456mail.hfut.edu.cn (Y.Z.); 18326671678@ 123456163.com (L.H.); hupenghao@ 123456hfut.edu.cn (P.H.)
                [2 ]School of Electronic Science & Applied Physics, Hefei University of Technology, Hefei 230009, China; yb0430@ 123456hfut.edu.cn
                [3 ]R&D Department of Anhui Heli Co., Ltd, Hefei 230000, China; yuyue_sunny@ 123456126.com
                Author notes
                [* ]Correspondence: huyi@ 123456hfut.edu.cn
                Author information
                https://orcid.org/0000-0002-6047-4094
                https://orcid.org/0000-0001-6014-1567
                Article
                sensors-20-01715
                10.3390/s20061715
                7146274
                32204414
                e31b70b7-6d36-4a2f-a8de-8efc2e0e85db
                © 2020 by the authors.

                Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license ( http://creativecommons.org/licenses/by/4.0/).

                History
                : 02 March 2020
                : 17 March 2020
                Categories
                Article

                Biomedical engineering
                integrated joint module,magnetic encoder,angle error compensation,harmonic analysis

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