Auto-calibration of robot's multi-axis wrist force sensor

被引：0
|
作者：
Liu, ZS [1 ]
Zhen, HM [1 ]
Chen, EW [1 ]
Gan, FJ [1 ]
Wen, L [1 ]
机构：
[1] Hefei Univ Technol, Coll Mech & Automobile Engn, Hefei 230009, Anhui, Peoples R China
来源：
PROCEEDINGS OF THE SECOND INTERNATIONAL SYMPOSIUM ON INSTRUMENTATION SCIENCE AND TECHNOLOGY, VOL 3 | 2002年
关键词：
robot's wrist force sensor; auto-calibration; static calibration; dynamic calibration;
D O I：
暂无
中图分类号：
O65 [分析化学];
学科分类号：
070302 ; 081704 ;
摘要：
A robot's multi-axis wrist force sensor -end effector/workpiece model is built. The force measurement techniques of wrist force sensor are analyzed by using robot dynamic analysis method. A unified equation which expresses the relationship between the forces /moments applied the sensor and the forces/moments exerted by end-effector with environment is derived, and is suitable for both static and dynamic force measurement. According to this equation, the auto-calibration method for wrist force sensor is investigated. A method, called "two-times-loading method", is proposed based on the previous study, which can improve the accuracy of static calibration effectively. A method for dynamic auto-calibration is also developed in this paper, which can on-line measure the dynamic performance index of multi-axis wrist force sensor.
引用
收藏
页码：387 / 393
页数：7
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