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Collision position sensing method based on six-dimensional force sensor

A six-dimensional force sensor and collision position technology, which is applied in the field of robot interaction, can solve the problems of slow sampling speed, low resolution, and high price, and achieve the effects of improving accuracy, accurate collision position information, and strong environmental adaptability

Inactive Publication Date: 2016-12-07
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

However, when installed in a robot, it is required to completely cover the outer surface of the robot. The circuit is relatively complicated, and the algorithm needs to be designed for the shape. The resolution is low, the sampling speed is slow, the price is expensive, the applicability is poor, and it is easy to break

Method used

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  • Collision position sensing method based on six-dimensional force sensor
  • Collision position sensing method based on six-dimensional force sensor
  • Collision position sensing method based on six-dimensional force sensor

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Embodiment Construction

[0032] The present invention will be further described in detail below in conjunction with the examples.

[0033] The present invention is a position sensing method based on a force and moment sensor for realizing the acquisition of the position information of the force point of a rigid mechanical arm during point contact. The six-dimensional force sensor calculates the position of the force-bearing point of the rigid manipulator when the point contacts. Such as figure 1 shown, including the following steps:

[0034] (1) Introduce gravity compensation and dynamic compensation, and list the overall equation of force analysis;

[0035] (2) Analyze the solvability of the algorithm by combining force analysis constraints, current constraints, normal vector constraints and manipulator contour constraints;

[0036] (3) According to the principle of compatibility, the phenomenon of no solution is eliminated, and the position of the force point is solved.

[0037] The gravity comp...

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Abstract

The invention relates to a collision position sensing method based on a six-dimensional force sensor. The collision position sensing method includes the following steps that the six-dimensional force sensor is installed between a first joint of a mechanical arm and a base; force and moment information fed back by the six-dimensional force sensor are substituted into a force analysis total equation containing gravity compensation and dynamics compensation, and acting force and moment of a collision point are obtained; and the position of the collision point in a base coordinate system can be obtained according to the acting force and the moment of the collision point. By means of the collision position sensing method, calculation of position information of point contact on the mechanical arm can be rapidly, conveniently and accurately achieved, and a robot has a higher adaptive capacity to environments.

Description

technical field [0001] The invention relates to a collision position perception method based on a six-dimensional force sensor, and proposes to use the six-dimensional force sensor to calculate the force point position of a rigid mechanical arm during point contact, and is mainly used in the field of robot interaction. Background technique [0002] With the continuous development of robot technology, traditional non-interactive robots have gradually developed towards the direction of environment perception and environment interaction. Related technologies such as vision technology, force feedback technology, temperature perception technology, etc. Increasingly demanding. [0003] Force perception is not only an important way for robots to interact with the outside world, but also the key to some assembly technologies, which can enable robots to have stronger environmental adaptability. Depending on the force signal, adjust the relevant state of the robot to complete the rel...

Claims

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Application Information

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IPC IPC(8): B25J19/02G01B21/00G01L5/16
Inventor 冷雨泉张会文张阳张伟何旭刘玉旺骆海涛陈正仓蔺兆宝付明亮
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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