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1. 发明申请

US20110224958A1 ERROR COMPENSATION METHOD FOR MULTI-AXIS CONTROLLED MACHINES 有权
标题翻译：多轴控制机的误差补偿方法
公开(公告)号：US20110224958A1
公开(公告)日：2011-09-15
申请号：US12947495
申请日：2010-11-16
申请人： Seung-Han Yang , Sung-Hwan Kweon , Dong-Mok Lee
发明人： Seung-Han Yang , Sung-Hwan Kweon , Dong-Mok Lee
IPC分类号： G06F17/16 , G06F17/11
CPC分类号： G01B21/042 , G05B19/404 , G05B2219/49181 , G05B2219/50285
摘要： An error compensation method for multi-axis controlled machines generates an error compensation model for compensating for geometric error of a multi-axis controlled machine by separating an error matrix of a tool tip from an error synthesis model of a multi-axis controlled machine and calculates an error compensation value using the error compensation model and an inverse kinematic model so that the error matrix becomes an identity matrix. The error compensation method can reduce calculation error and calculation time due to complicated numerical analysis and compensate for error in the multi-axis controlled machine, regardless of its configuration.
摘要翻译：多轴控制机器的误差补偿方法通过将刀尖的误差矩阵与多轴受控机器的误差合成模型分离，生成用于补偿多轴受控机器的几何误差的误差补偿模型，并计算使用误差补偿模型和逆运动学模型的误差补偿值，使得误差矩阵变为单位矩阵。误差补偿方法可以通过复杂的数值分析减少计算误差和计算时间，并补偿多轴控制机器的误差，无论其配置如何。

2. 发明申请

US20110218780A1 Method and Apparatus for Estimating Error in Multi-Axis Controlled Machine 有权
标题翻译：多轴控制机器误差估算方法及装置
公开(公告)号：US20110218780A1
公开(公告)日：2011-09-08
申请号：US12769178
申请日：2010-04-28
申请人： Seung-Han Yang , Dong-Mok Lee , Sung-Hwan Kweon
发明人： Seung-Han Yang , Dong-Mok Lee , Sung-Hwan Kweon
IPC分类号： G06F17/10 , G06G7/48
CPC分类号： G06F17/10 , G06G7/48
摘要： A method and apparatus for estimating error in a multi-axis controlled machine is applicable to any type of machine configuration in order to estimate and confirm in advance the final position and the posture of the machine, which are produced when geometric errors of the machine are synthesized. The method includes defining the structure of the multi-axis controlled machine subjected to error estimation; and defining parameters, which represent behaviors of drive axes having geometric error and relationships between the drive axes according to the defined structure of the multi-axis controlled machine, adding the defined parameters by applying the parameters to a generalized error synthesis model, and generating an error synthesis model of the multi-axis controlled machine by applying a result of parametric modeling in response to a result of the adding.
摘要翻译：用于估计多轴控制机器中的误差的方法和装置适用于任何类型的机器配置，以便预先估计和确认机器的最终位置和姿势，这是当机器的几何误差为合成。该方法包括定义进行误差估计的多轴受控机器的结构; 并且根据多轴受控机器的定义的结构定义表示具有几何误差的驱动轴和驱动轴之间的关系的参数的参数，通过将参数应用于广义误差合成模型来添加所定义的参数，并且生成通过应用参数建模的结果来响应加法的结果，多轴受控机器的误差合成模型。

3. 发明授权

US08700369B2 Method and apparatus for estimating error in multi-axis controlled machine 有权
标题翻译：多轴控制机器误差估计方法及装置
公开(公告)号：US08700369B2
公开(公告)日：2014-04-15
申请号：US12769178
申请日：2010-04-28
申请人： Seung-Han Yang , Dong-Mok Lee , Sung-Hwan Kweon
发明人： Seung-Han Yang , Dong-Mok Lee , Sung-Hwan Kweon
IPC分类号： G06G7/48 , G06F17/16 , G01C17/38 , G05B13/04 , G06F19/00
CPC分类号： G06F17/10 , G06G7/48
摘要： A method and apparatus for estimating error in a multi-axis controlled machine is applicable to any type of machine configuration in order to estimate and confirm in advance the final position and the posture of the machine, which are produced when geometric errors of the machine are synthesized. The method includes defining the structure of the multi-axis controlled machine subjected to error estimation; and defining parameters, which represent behaviors of drive axes having geometric error and relationships between the drive axes according to the defined structure of the multi-axis controlled machine, adding the defined parameters by applying the parameters to a generalized error synthesis model, and generating an error synthesis model of the multi-axis controlled machine by applying a result of parametric modeling in response to a result of the adding.
摘要翻译：用于估计多轴控制机器中的误差的方法和装置适用于任何类型的机器配置，以便预先估计和确认机器的最终位置和姿势，这是当机器的几何误差为合成。该方法包括定义进行误差估计的多轴受控机器的结构; 并且根据多轴受控机器的定义的结构定义表示具有几何误差的驱动轴和驱动轴之间的关系的参数的参数，通过将参数应用于广义误差合成模型来增加所定义的参数，并且生成通过应用参数建模的结果来响应加法的结果，多轴受控机器的误差合成模型。

4. 发明授权

US08396697B2 Error compensation method for multi-axis controlled machines 有权
标题翻译：多轴控制机器的误差补偿方法
公开(公告)号：US08396697B2
公开(公告)日：2013-03-12
申请号：US12947495
申请日：2010-11-16
申请人： Seung-Han Yang , Sung-Hwan Kweon , Dong-Mok Lee
发明人： Seung-Han Yang , Sung-Hwan Kweon , Dong-Mok Lee
IPC分类号： G06F7/60 , G06F17/10
CPC分类号： G01B21/042 , G05B19/404 , G05B2219/49181 , G05B2219/50285
摘要： An error compensation method for multi-axis controlled machines generates an error compensation model for compensating for geometric error of a multi-axis controlled machine by separating an error matrix of a tool tip from an error synthesis model of a multi-axis controlled machine and calculates an error compensation value using the error compensation model and an inverse kinematic model so that the error matrix becomes an identity matrix. The error compensation method can reduce calculation error and calculation time due to complicated numerical analysis and compensate for error in the multi-axis controlled machine, regardless of its configuration.
摘要翻译：多轴控制机器的误差补偿方法通过将刀尖的误差矩阵与多轴受控机器的误差合成模型分离，生成用于补偿多轴受控机器的几何误差的误差补偿模型，并计算使用误差补偿模型和逆运动学模型的误差补偿值，使得误差矩阵变为单位矩阵。误差补偿方法可以通过复杂的数值分析减少计算误差和计算时间，并补偿多轴控制机器的误差，而不管其结构如何。

5. 发明申请

US20110178782A1 Method for Estimating Geometric Error Between Linear Axis and Rotary Axis in a Multi-Axis Machine Tool 审中-公开
标题翻译：用于估计多轴机床中直线轴和旋转轴之间的几何误差的方法
公开(公告)号：US20110178782A1
公开(公告)日：2011-07-21
申请号：US12769285
申请日：2010-04-28
申请人： Seung-Han Yang , Dong-Mok Lee , Kwang-II Lee , Zankun Zhu
发明人： Seung-Han Yang , Dong-Mok Lee , Kwang-II Lee , Zankun Zhu
IPC分类号： G06F17/10
CPC分类号： G01B21/042
摘要： A method of estimating a geometric error between a linear axis and a rotary axis in a multi-axis machine tool is provided, the method including creating a circular path under the control of one or more drive axes and measuring a radial error of the circular path using a ball bar, defining the relationship between position-dependent geometric error parameters and position-independent geometric error parameters and measured data using an error synthesis model and an equation of a ball bar, defining a linear equation with unknown position-independent geometric error parameters by removing higher order terms of the position-dependent geometric error parameters and position-independent geometric error parameters, and obtaining the position-independent geometric error parameters through least squares from the linear equation.
摘要翻译：提供了一种在多轴机床中估计线性轴和旋转轴之间的几何误差的方法，该方法包括在一个或多个驱动轴的控制下创建圆形路径并测量圆形路径的径向误差使用球杆，使用误差合成模型和球杆方程定义位置相关几何误差参数与位置无关几何误差参数之间的关系以及测量数据，定义具有未知位置无关几何误差参数的线性方程通过去除位置相关几何误差参数和位置无关几何误差参数的高阶项，并通过线性方程的最小二乘法获得与位置无关的几何误差参数。

6. 发明授权

US08154735B2 Apparatus for measuring quasi-static error of rotation driving shaft 有权
标题翻译：用于测量旋转驱动轴的准静态误差的装置
公开(公告)号：US08154735B2
公开(公告)日：2012-04-10
申请号：US12770352
申请日：2010-04-29
申请人： Seung-Han Yang , Sung-Ryung Park
发明人： Seung-Han Yang , Sung-Ryung Park
IPC分类号： G01B11/14
CPC分类号： G01B11/272
摘要： In an apparatus for measuring a quasi-static error of a rotation driving shaft, a positional error and an angular error in each of X, Y, and Z axis directions during rotation of a driving shaft is measured by means of a single measurement apparatus. In the apparatus, a first splitter, a second splitter, and a reflector spectrally output or reflect a laser beam, which is output from a laser driving device, to a first position sensor and a second position sensor, so that it is possible to obtain every error information on positional errors and angular errors in X, Y, and Z axis directions of a rotation driving shaft through input position change data of the inputted laser beam.
摘要翻译：在用于测量旋转驱动轴的准静态误差的装置中，通过单个测量装置来测量驱动轴旋转期间X，Y和Z轴方向中的每一个中的位置误差和角度误差。在该装置中，第一分离器，第二分离器和反射器将从激光驱动装置输出的反射光谱输出或反射到第一位置传感器和第二位置传感器，使得可以获得通过输入的激光束的输入位置改变数据，关于旋转驱动轴的X，Y和Z轴方向上的位置误差和角度误差的每个误差信息。

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