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Compensation method for temperature drift of robot wrist force sensor

A technology of temperature drift and compensation method, applied in the field of sensor compensation, can solve problems such as slow convergence speed, and achieve the effect of good curve linearity

Inactive Publication Date: 2015-07-15
袁川来
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Problems solved by technology

[0014] The purpose of the present invention is to provide a compensation method for the temperature drift of the wrist force sensor of a robot, aiming at solving the defect that the principal component analysis method has a slow convergence speed in the temperature compensation of the wrist force sensor

Method used

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  • Compensation method for temperature drift of robot wrist force sensor
  • Compensation method for temperature drift of robot wrist force sensor
  • Compensation method for temperature drift of robot wrist force sensor

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Embodiment Construction

[0027] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0028] 1. The basic structure of the wrist force sensor commonly used in industrial robots in the present invention, such as figure 1 As shown, it mainly consists of the following two parts:

[0029] 1) The sensing head part. This part mainly includes a pressure strain body, a strain bridge, and a pre-amplifier, etc., which can convert the force signal into an electrical signal and amplify the electrical signal in the early stage. when the temperature

[0030] 2) Signal processing part. This part is mainly for post-stage amplification, signal filtering, A / D conversion, etc. At the same time, ot...

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Abstract

The invention provides a compensation method for temperature drift of a robot wrist force sensor. An ARX (automatic retransmission exchange) model is applied to dynamic description of a PLS inner model to represent dynamic characteristics of a system, and an ARX-PLS model is established; limited discrete points are selected to correct the wrist force sensor, and compensation coefficients at various temperatures are obtained with adoption of the ARX-PLS model. The defect of low convergence rate of a principal component analysis method in temperature compensation of the wrist force sensor is effectively overcome, and the compensation effect is more real.

Description

technical field [0001] The invention belongs to the technical field of sensor compensation, in particular to a compensation method and system for temperature drift of a robot wrist force sensor. Background technique [0002] With the rapid development of modern detection technology, piezoresistive wrist force sensors are more and more widely used in industrial production practice. The modern scientific and technological revolution in the 21st century is coming, and sensor technology has attracted extensive and high attention from the electronic information industry at home and abroad. It can even be said that the technical level of sensors is one of the important criteria to measure the level of a country's scientific and technological level. [0003] In recent years, the compensation technology of foreign wrist force sensors has developed rapidly, and the development direction is dedicated to intelligence, miniaturization, integration and digitization. In order to correct...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/26
Inventor 袁川来孔玲爽肖伸平周维龙
Owner 袁川来
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