自动化学报2017，Vol.43Issue(3)：439-447,9.DOI:10.16383/j.aas.2017.c150753
基于六维力传感器的工业机器人末端负载受力感知研究
Research on Force Sensing for the End-load of Industrial Robot Based on a 6-axis Force/Torque Sensor
摘要
Abstract
Based on the 6-axis force/torque sensor mounted on the robot wrist, a estimating and computing method is studied to obtain the force between the load and nearby object. In the method, the gravity of load, bias of the sensor, installing angle of the robot are overall considered. Using the sensor data of not less than 3 robot orientations, all these parameters can be calculated, include the bias of sensor, installing angle of the robot, the gravity of the load and the coordinate of gravity center. Using the result, the influence of the load gravity and bias of sensor on the data of the sensor can be compensated, and the external force on the load can be precisely obtained. In the experiments, sensing the external force/torque for the loads from 320 N to 1917 N at static state, the error of force is not more than 0.28%of the load gravity, and the error of torque is not more than 0.59%of the torque caused by the load gravity.关键词
受力感知/重力补偿/零点标定/六维力传感器/工业机器人Key words
Force sensing/gravity compensation/bias estimation/6-axis force/torque sensor/industrial robot引用本文复制引用
张立建,胡瑞钦,易旺民..基于六维力传感器的工业机器人末端负载受力感知研究[J].自动化学报,2017,43(3):439-447,9.基金项目
北京市科技创新基地培育与发展专项项目(Z151104001615076)资助Supported by Special Project for Cultivating and Devel-oping Science and Technology Innovation Base in Beijing(Z151104001615076) （Z151104001615076）
