Hi Friends,
Does any Robot has backlash compensation as it is available in CNC controllers?
Regards
Sachin
Hi Friends,
Does any Robot has backlash compensation as it is available in CNC controllers?
Regards
Sachin
Hm... well, there have been a few robots that add external encoders to the axes, in order to capture the differences between the actual axis motion and the driveshaft motion. But for "blind" backlash compensation? I'm not aware of any. It's a much more difficult problem than for a regular CNC machine, due to the much greater complexity of the robot's kinematic envelope. Most methods I've seen don't attempt backlash compensation, per se, as much as a general accuracy compensation (of which backlash is part, but only part, of the overall problem being addressed). This usually consists of collecting a great deal of data throughout the critical part of the robot's motion envelope concerning the differences between the robot's real position, and the position the robot thinks it is at. How this data is applied varies widely -- I've seen massive point-by-point correction tables, simplistic averaging of error over volume, fine-tuning adjustments made to the robot's D-H parameters....