Error Correction - Renesas RX24T Reference Manual

Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers

2.4.4 Error Correction

The following shows calculations used in error correction for successive Jacobian calculations.
Calculate the coordinates (X, Y) from the joint angle of successive Jacobian calculation results.
Calculate the error between the obtained coordinates and interpolated coordinates (expectations).
Calculate the error of the angle from the error of the coordinates using Jacobian matrix J.
Treat the result of ���� + ∆����
1,2
Error correction should be handled until ∆X and ∆Y become smaller than permissible error ϵ.
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
X = L sin ����
1
Y = L cos ����
1
∆X = ����
∆Y = ����
∆����
�
1
∆����
2
as ����
1,2 1,2
.
sin ( ���� )
+ ���� + ����
1 2 1 2
cos ( ���� )
+ ���� + ����
1 2 1 2
− ����
ℎ����������������
− ����
ℎ����������������
∆����
� = ���� � �
−1
∆����
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
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