摘要
针对工业机器人实时检测末端执行器工作受力情况的需求,提出一种工业机器人六维力传感器在线标定方法。首先,建立传感器数据关系计算模型,并在此基础上重点考虑传感器"零漂"引起的干扰;然后,采用最小二乘法确定机器人底座安装倾角、末端执行器重力及重心坐标参数;最后,根据机器人实时运动学参数,采用时间序列方法在线补偿末端执行器重力和传感器零点偏移。实验表明在线标定方法对比静态标定方法可完全消除传感器"零漂"引起的干扰,具有较好的在线补偿效果。通过对工业机器人末端执行器受到的外部恒力和变力进行实时跟踪检测,验证了算法的有效性和实用性。
An online calibration method of a six-axis force sensor for the industrial robot was proposed based on the requirement of real-time detecting of end effector working force of industrial robots. First, establish a calculation model of a sensor data relationship, and on this basis, focus on the interference caused by the sensor’s "zero drift". Then, the least square method was used to identify the base angle, end effector weight and barycenter coordinate parameters of the robot. Finally, according to the real-time kinematic parameters of the robot, the time series method was utilized to compensate for the weight of the end effector and the zero of the sensor online. Experiments show that the online calibration method can eliminate the interference caused by the "zero drift" of the sensor compared with the static calibration method, and have a better online compensation effect. Through real-time tracking detection of the external constant and variable forces received by the end-effector of the industrial robot, the validity and practicability of the algorithm are verified.
作者
张春涛
王勇
Zhang Chuntao;Wang Yong(College of Mechanical Engineering,Hefei University of Technology,Hefei 230000,China)
出处
《电子测量与仪器学报》
CSCD
北大核心
2021年第6期161-168,共8页
Journal of Electronic Measurement and Instrumentation
基金
国家自然科学基金(U1713210)项目资助。
关键词
工业机器人
六维力传感器
零点补偿
在线标定
industrial robots
six-axis force sensor
zero compensation
online calibration
