平躺並聯式三軸運動平台之角度軌跡誤差補償研究

Study of Angle Trajectory Tracking Errors Compensation for A 3-axis Servo Motion Platform

鄭淵明(Yuan-Ming Cheng) ； 溫真豪(Chen-Hao Wen) ； 徐銨駿(An-Chun Hsu) ； 方乾正(Chien-Cheng Fang)

《機械技師學刊》 6卷4期 (2013/12) Pp. 40-45

https://doi.org/10.6208/JPME-2013-12-06

摘要

本論文主要探討平躺並聯式三自由度三軸運動平台之角度軌跡追蹤誤差補償的研究。在研究中，整體系統分成三個架構，一、是以電腦主機端計算理想角度軌跡值後，經由逆向運動學轉化為三軸驅動量傳至平台控制器。二、三軸平台控制器是以NI Compact RIO作及時控制器，以達到精確控制三軸致動器。三、在機構方面三軸運動平台以精密螺桿採平躺並聯方式，搭配X-sens陀螺儀量測平台姿態，傳回電腦主機端及時計算角度軌跡誤差值後，再補償至NI Compact RIO控制器，以達到精確控制平台角度軌跡。

關鍵字

並聯式機構 ； 陀螺儀 ； 軌跡追蹤 ； 誤差補償

並列摘要

This paper focuses on angle trajectory tracking error compensation for a 3-degrees of freedom (3-D.O.F.) servo motor motion platform which the actuator is fixed on a fixed base. In the study, the experimental system is divided into three frameworks. First, the host computer calculates the ideal trajectory angle value is to via axis drive by inverse kinematics into motion platform controller. Second, Three-axis platform controller is based on NI Compact RIO for real-time controller to achieve precise control of three-axis actuator. Third, the position of mechanism for three-axis motion platform which the actuator is fixed on a fixed base is measured by a X-sens gyroscope. The host computer is returned real-time after calculating the trajectory angle error value. Error compensation values are then sent to NI Compact RIO controller to achieve precise control angle trajectory of motion platform.

並列關鍵字

Parallel mechanism ； Gyroscope ； Compact RIO ； Trajectory tracking ； Error compensation

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