Kinematic Compensation Algorithm for Reducing Errors in a Closed-Loop Manufacturing System

During the manufacturing process of a piece, different factors influence the process so that errors of a systematic and random nature are added, affecting both the dimensions and the final geometry. The strategy presented in this research seeks to identify, monitor, and computationally control the errors arising from the arrangement of the actuators that can be derived from errors in assembly, wear of the components, and thermal deformations. This article proposes an algorithm to prevent and correct geometric and dimensional errors in manufacturing parts as a compensation strategy. The algorithm obtains the references of the manufacturing process and estimates the process's deviation, calculating the manufactured part's error concerning the projected piece. Error compensation is performed through reference points that alter the location of the target points in the opposite direction to the resulting error to nullify it kinematically. The validation of the strategy is carried out through the computational implementation of kinematic algorithms of a machine tool with a Cartesian structure of two degrees of freedom on which position and orientation errors are induced. The presented results allow for verifying the proposed algorithm's effectiveness against tests with significant errors. The compensation strategy presented allows projecting this algorithm as an online software calibration method, reducing the number of stops due to mechanical maintenance of the CNC machine and making closed-loop manufacturing possible with real-time compensation.