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
相关论文
共 50 条
  • [31] Sensor Auto-Calibration on Dynamic Platforms in 3D
    Britt, Jordan
    Bevly, David M.
    PROCEEDINGS OF THE 26TH INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION (ION GNSS 2013), 2013, : 2195 - 2203
  • [32] Auto-calibration for Raman fiber optic distributed temperature sensor
    Lan, T. (lantian_buaa@126.com), 2012, Chinese Society of Astronautics (41):
  • [33] Study on wrist force sensor for robot
    Chen, Bin
    Jixie goneheng Xuebao, 1988, 24 (02): : 63 - 70
  • [34] Sensor characterization for supporting de-noising and auto-calibration of sensor data
    van Hauwermeiren, Wout
    Hou, Yuanbo
    Filipan, Karlo
    Botteldooren, Dick
    2022 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN), 2022,
  • [35] A high sensitivity and multi-axis fringing electric field based capacitive tactile force sensor for robot assisted surgery
    Arshad, Adeel
    Saleem, Muhammad Mubasher
    Tiwana, Mohsin Islam
    Rahman, Hamood Ur
    Iqbal, Sohail
    Cheung, Rebecca
    SENSORS AND ACTUATORS A-PHYSICAL, 2023, 354
  • [36] Geometric error calibration of multi-axis machines using an auto-alignment laser interferometer
    Chen, JS
    Kou, TW
    Chiou, SH
    PRECISION ENGINEERING-JOURNAL OF THE AMERICAN SOCIETY FOR PRECISION ENGINEERING, 1999, 23 (04): : 243 - 252
  • [37] A multi-axis force-moment micro sensor for application in fluid mechanics
    Dao, DV
    Nguyen, AT
    Nguyen, CV
    Toriyama, T
    Wells, JC
    Sugiyama, S
    MHS2002: PROCEEDINGS OF THE 2002 INTERNATIONAL SYMPOSIUM ON MICROMECHATRONICS AND HUMAN SCIENCE, 2002, : 187 - 190
  • [38] Calibration of multi-axis MEMS force sensors using the shape from motion method
    Sun, Yu
    Kim, Keekyoung
    Voyles, Richard M.
    Nelson, Bradley J.
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, : 269 - +
  • [39] Geometric error calibration of multi-axis machines using an auto-alignment laser interferometer
    Chen, JS
    PROCEEDINGS OF THE TWELFTH ANNUAL MEETING OF THE AMERICAN SOCIETY FOR PRECISION ENGINEERING, 1997, : 422 - 425
  • [40] High Precision Modeling for a Multi-Axis Robot Considering Interference Force based on Robot Dynamic Model
    Ito, Kazuaki
    Ishiguro, Shota
    Iwasaki, Makoto
    IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2018, : 4581 - 4587
12345