Advancement of Robots With Double Encoders for Industrial and Collaborative Applications

Mikhel, Stanislav; Popov, Dmitry; Mamedov, Shamil; Klimchik, Alexandr

doi:10.23919/fruct.2018.8588021

Cited by 9 publications

(4 citation statements)

References 20 publications

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“…External force detection via double encoders can be found in [4] and [13]. In both cases, it is assumed that Hooke's law holds and deflection value is proportional to an applied external force in nonsingular configurations.…”

Section: Fig 1 Double Encoders Schemementioning

confidence: 99%

Stiffness Model Reduction for Manipulators with Double Encoders: Algebraic Approach

Mikhel¹,

Klimchik²

2021

Nelin. Dinam.

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To compare the proposed techniques with the experimental approach, the robot deformation under load is simulated and the tool displacement is estimated. It is shown that both approaches are equivalent in terms of accuracy. While the experimental method is easier to implement, the algebraic approach allows analyzing the contribution of each link in a reduced model of elasticity. Besides, the obtained estimate of the parameters does not depend on the accuracy of measurements and configurations used in the identification process.

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Section: Fig 1 Double Encoders Schemementioning

confidence: 99%

Stiffness Model Reduction for Manipulators with Double Encoders: Algebraic Approach

Mikhel¹,

Klimchik²

2021

Nelin. Dinam.

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“…The vast majority of industrial and scientific applications use optical encoders for a position measurement and closed-loop position control, for example, machine tools [ 1 , 2 , 3 , 4 , 5 ], tracking systems [ 6 , 7 , 8 ], industrial robots [ 9 , 10 , 11 , 12 , 13 ], positioning stages [ 14 , 15 , 16 , 17 ], and so on. All these technological machines work under various environment conditions such as temperature, humidity, mechanical vibration, etc.…”

Section: Introductionmentioning

confidence: 99%

Thermal and Geometric Error Compensation Approach for an Optical Linear Encoder

Gurauskis

Kilikevičius

Kasparaitis

2021

Sensors

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Linear displacement measuring systems, like optical encoders, are widely used in various precise positioning applications to form a full closed-loop control system. Thus, the performance of the machine and the quality of its technological process are highly dependent on the accuracy of the linear encoder used. Thermoelastic deformation caused by a various thermal sources and the changing ambient temperature are important factors that introduce errors in an encoder reading. This work presents an experimental realization of the real-time geometric and thermal error compensation of the optical linear encoder. The implemented compensation model is based on the approximation of the tested encoder error by a simple parametric function and calculation of a linear nature error component according to an ambient temperature variation. The calculation of a two-dimensional compensation function and the real-time correction of the investigated linear encoder position readings are realized by using a field programmable gate array (FPGA) computing platform. The results of the performed experimental research verified that the final positioning error could be reduced up to 98%.

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“…Due to their high accuracy, resolution, and repeatability, as well as their ability to work under different environmental conditions and their relatively low price, they are used in a variety of applications. Some examples are manually controlled machine tools and computer-numericalcontrol (CNC) machines [1][2][3][4], robotics [5][6][7][8][9][10], servosystems [11][12][13][14], monitoring and fault diagnosis systems [15][16][17][18], tracking systems [19,20], linear and rotary positioning stages [21][22][23][24], and other precision-positioning applications [25].…”

Section: Introductionmentioning

confidence: 99%

Experimental Investigation of Linear Encoder’s Subdivisional Errors under Different Scanning Speeds

2020

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Optical encoders are widely used in applications requiring precise displacement measurement and fluent motion control. To reach high positioning accuracy and repeatability, and to create a more stable speed-control loop, essential attention must be directed to the subdivisional error (SDE) of the used encoder. This error influences the interpolation process and restricts the ability to achieve a high resolution. The SDE could be caused by various factors, such as the particular design of the reading head and the optical scanning principle, quality of the measuring scale, any kind of relative orientation changes between the optical components caused by mechanical vibrations or deformations, or scanning speed. If the distorted analog signals are not corrected before interpolation, it is very important to know the limitations of the used encoder. The methodology described in this paper could be used to determine the magnitude of an SDE and its trend. This method is based on a constant-speed test and does not require high-accuracy reference. The performed experimental investigation of the standard optical linear encoder SDE under different scanning speeds revealed the linear relationship between the tested encoder’s traversing velocity and the error value. A more detailed investigation of the obtained results was done on the basis of fast Fourier transformation (FFT) to understand the physical nature of the SDE, and to consider how to improve the performance of the encoder.

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Advancement of Robots With Double Encoders for Industrial and Collaborative Applications

Cited by 9 publications

References 20 publications

Stiffness Model Reduction for Manipulators with Double Encoders: Algebraic Approach

Stiffness Model Reduction for Manipulators with Double Encoders: Algebraic Approach

Thermal and Geometric Error Compensation Approach for an Optical Linear Encoder

Experimental Investigation of Linear Encoder’s Subdivisional Errors under Different Scanning Speeds

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