Experiment of Real-Time Error Compensation for 2-DOF Hybrid-Driven Machine

Based on the characteristics of the hybrid-driven machine,the control strategy of variable-structure was discussed and the method of real-time error compensation by the inverse kinematics was proposed with the software developed.The experimental results under the different operating modes with load or without load show that the displacement obtained by the real-time error compensation experimental software is accorded with the theoretical displacement of slider primely.The biggest drawing displacement errors after error compensation are only 0.9~% without load and 3.1~% with load respectively.The results show that the control strategy and the method of real-time error compensation are effective,and the control precision,the rapidity and the stability all meet the demand of the motion control.