An online error compensation strategy for hybrid robot based on grating feedback
Pengkun Cheng,
Juliang Xiao,
Wei Zhao
et al.
Abstract:PurposeThis paper aims to enhance the machining accuracy of hybrid robots by treating the moving platform as the first joint of a serial robot for direct position measurement and integrating external grating sensors with motor encoders for real-time error compensation.Design/methodology/approachInitially, a spherical coordinate system is established using one linear and two circular grating sensors. This system enables direct acquisition of the moving platform’s position in the hybrid robot. Subsequently, duri… Show more
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