SYSTEM AND METHOD FOR IMPROVING THE DYNAMIC ACCURACY OF A HEXAPOD POSITIONING DEVICE

摘要

A system and method for improving the dynamic accuracy of a positioning device, such as a hexapod machining center, is disclosed. The positioning device has an upper and lower platform connected by a plurality of actuators at a plurality of pivot locations. The dynamic accuracy of the positioning device is improved by reducing undesired following errors in the actuator servo system. The improved method comprises the steps of: calculating, in real time, desired actuator forces required to produce an acceleration for the positioning device which minimizes the undesired following errors in the actuator servo system; and continuously commanding the actuators to produce the calculated actuator forces.