A sensor data fusion method for obtaining robot joint position feedback information
A technology for robot joints and joint positions, which is applied to manipulators, program-controlled manipulators, joints, etc., can solve the problems of low detection accuracy of joint end position sensors, inability to obtain joint angle information feedback, affecting joint position control accuracy, etc. Poor, easy to implement, low computational cost
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specific Embodiment approach 1
[0042] Specific implementation mode one: the following combination figure 1 and figure 2 Describe this embodiment, the sensor data fusion method for obtaining robot joint position feedback information described in this embodiment, it comprises the following steps:
[0043] Step 1: Obtain the sensor data calibration form:
[0044] Record the output value p of the joint position sensor corresponding to the moment when the motor position sensor changes circles during the movement of the joint from the mechanical limit on one side to the mechanical limit on the other side j , j=0,1,2...l-1; the joint position sensor output value p j Organize it into a sensor data calibration table Table[l] and store it in the joint controller; l is the output value p of the joint position sensor j the number of
[0045] Step 2: Obtain the initial absolute position of the joint:
[0046] Start the joint controller, at the initial moment of joint movement, according to the joint angle θ collec...
specific Embodiment approach 2
[0050] Specific implementation mode two: the following combination figure 1 and figure 2 Describe this embodiment, this embodiment will further explain Embodiment 1, the joint initial absolute position angle θ init There are two methods of obtaining:
[0051] 1) The joint position sensor and the motor position sensor increase in the same direction:
[0052] If θ j ≤Table[0], then θ init = θ m / η-△θ;
[0053] If θ j ≥ Table[l-1], θ init =△θ*(l-1)+θ m / η;
[0054] Otherwise, use the dichotomy method to query the sensor data calibration table Table[l] to obtain θ j Corresponding to N, then:
[0055] θ init =△θ*N+θ m / η;
[0056] In the formula, η is the reduction ratio of the joint reduction device;
[0057] △θ is the corresponding joint angle variation during one rotation of the motor, △θ=2π / η;
[0058] N is relative to the preset point p 0 , the number of complete revolutions of the motor shaft;
[0059] 2) The increase direction of the value of the joint pos...
specific Embodiment approach 3
[0065] Specific implementation mode three: the following combination figure 1 and figure 2 Describe this embodiment. This embodiment will further explain Embodiment 2. When the joint initial absolute position angle θ init When the following conditions are met, the compensation is as follows:
[0066] If θ init -θ j >△θ / 2, so that θ init = θ init -△θ;
[0067] If θ init -θ j init = θ init +△θ.
[0068] This embodiment is used to compensate errors caused by small changes in the readings of the position sensors at the joint end and the motor end. For joint initial absolute position angle θ init Compensating means reassigning it to update the current value in real time.
[0069] Since there are errors in both the joint position sensor and the motor position sensor, when the joint position is close to the calibration point recorded in the calibration table, a small change in the readings of the joint end sensor and the motor end sensor will cause the fused joint angle ...
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