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Robot force-following motion control method based on six-dimensional force/torque sensor

A technology of torque sensor and following motion, which is applied in adaptive control, general control system, control/regulation system, etc., and can solve problems such as complex application

Inactive Publication Date: 2015-10-28
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In terms of the calibration of the six-dimensional force / torque sensor, those skilled in the art have proposed a method for calibrating the measurement linearity of the six-dimensional force / torque sensor at a certain attitude, but they are more complicated in application

Method used

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  • Robot force-following motion control method based on six-dimensional force/torque sensor
  • Robot force-following motion control method based on six-dimensional force/torque sensor
  • Robot force-following motion control method based on six-dimensional force/torque sensor

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Embodiment

[0050] Such as figure 1 , figure 2 , image 3 shown. The robot force-following motion control method based on the six-dimensional force / torque sensor of the present invention is characterized in that comprising the following steps:

[0051] Step (1): Compensate the force and moment values ​​of the force / torque sensor by feeding back the current attitude of the force / torque sensor and using the following formula:

[0052] F xc = r 31 k xz G + F x 0 F yc = r 32 ...

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Abstract

The invention discloses a method for performing force follow-up motion control on a robot on the basis of a six-dimensional force / torque transducer. When the goals, such as teaching and the like, are achieved by using the robot, a very good effect can be obtained by the method. The method for performing the force follow-up motion control on the robot on the basis of the six-dimensional force / torque transducer disclosed by the invention mainly comprises four important steps: firstly, calibrating a zero value of the force / torque transducer by utilizing a simpler method, secondly, performing compensation on influences caused to the zero value of the force / torque transducer due to the gravity of the force / torque transducer and the gravity of tools installed on the force / torque transducer under different postures of the force / torque transducer by utilizing a specific method, thirdly, setting a stable interval of the force / torque transducer under the corresponding posture, and fourthly, performing the force follow-up motion control on the robot by utilizing the force / torque value of the force / torque transducer.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a robot force-following motion control method based on a six-dimensional force / torque sensor. Background technique [0002] Force / torque sensors are often used in the industrial field. The attitude of the commonly used force / torque sensors is fixed when they are used. Due to the influence of gravity, the zero position of the sensor (the output value of the sensor when no external force is applied to the sensor in this attitude) will change, so the effect of its compensation directly affects the actual performance. In order to compensate for this change, special methods are required. Regarding the calibration of the six-dimensional force / torque sensor, those skilled in the art have proposed a method for calibrating the measurement linearity of the six-dimensional force / torque sensor at a certain attitude, but they are relatively complicated in application. Contents of the invention...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 张铁林君健
Owner SOUTH CHINA UNIV OF TECH