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Three-dimensional force sensor decoupling calibration and filtering method and device for constant force grinding

A sensor, three-dimensional force technology, applied in the direction of measuring devices, instruments, force/torque/work measuring instrument calibration/testing, etc. Simple and effective decoupling calibration and precise filtering effect

Active Publication Date: 2019-11-15
SOUTH CHINA UNIV OF TECH
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  • Claims
  • Application Information

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Problems solved by technology

[0002] In force-controlled grinding, a three-dimensional force sensor is often used as a method of measuring contact force. Since the three-dimensional force sensor has no channel for detecting torque, it can only bear force at a fixed point, that is, if the force point of the three-dimensional force sensor changes, then Calibration must be performed again, otherwise the output voltage error due to torque will be superimposed on the measurement force of each axis, resulting in inaccurate measurement values ​​of the three axes. Therefore, before using the resistance strain type three-dimensional force sensor, it is necessary to The decoupling matrix of the force point is used for calibration

Method used

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  • Three-dimensional force sensor decoupling calibration and filtering method and device for constant force grinding
  • Three-dimensional force sensor decoupling calibration and filtering method and device for constant force grinding
  • Three-dimensional force sensor decoupling calibration and filtering method and device for constant force grinding

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Embodiment

[0054] The device of the present invention is used in the working steps of the three-dimensional force sensor decoupling calibration and filtering method for constant force grinding:

[0055] (1) The three-dimensional force sensor used is A3D46-20kg force sensor with a measuring range of 20kg, its non-linearity is less than ±1% F.S., and the repeatability is less than ±0.5% F.S. Since the three-dimensional force sensor has no channel to detect torque information, it can only bear force at a fixed point. If the force point changes, it must be re-calibrated, otherwise force coupling will occur and the measured force value will be incorrect, resulting in robot misoperation. The force of the three-dimensional force sensor at different points is as follows: image 3 As shown, when at P 1 The point is subjected to a force F in the X direction x ’, the sensor is equivalent to being subjected to f at point O x force and m x torque. If a single force f is applied at point O x Whe...

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Abstract

The invention discloses a three-dimensional force sensor decoupling calibration and filtering method for constant-force grinding. The method comprises the steps of loading a constant weight in three directions of a three-dimensional force sensor, respectively measuring and recording output voltage of three channels of the sensor, and obtaining a decoupling matrix equation; calculating an actual bearing force in each direction through the decoupling matrix equation, and performing filtering on an interference signal according to an adaptive inertia filtering method of a force signal, thereby obtaining a real-time effective contact force signal; and then entering a motion controller through conversion of a signal amplifier, thereby finishing decoupling and filtering processing. The invention further discloses a device for realizing the method. The control part of the device comprises a PC host, an embedded controller, a terminal board, a signal amplifier, a three-dimensional force sensor, a servo controller and a three-coordinate driving and transmission mechanism. The mechanical part of the device comprises an x-axis motion mechanism, a y-axis motion mechanism and a z-axis motion mechanism, a sensor clamping frame, and a machining tool, wherein the x-axis motion mechanism, the y-axis motion mechanism and the z-axis motion mechanism are mounted on the three-coordinate driving and transmission mechanism on a workbench.

Description

technical field [0001] The invention belongs to the technical field of robot processing applications, and relates to a force sensor decoupling calibration and filtering method, in particular to a three-dimensional force sensor decoupling calibration and filtering method and device for constant force grinding. Background technique [0002] In force-controlled grinding, a three-dimensional force sensor is often used as a method of measuring contact force. Since the three-dimensional force sensor has no channel for detecting torque, it can only bear force at a fixed point, that is, if the force point of the three-dimensional force sensor changes, then It must be re-calibrated, otherwise the output voltage error due to the torque will be superimposed on the measurement force of each axis, resulting in inaccurate measurement values ​​of the three axes. Therefore, before using the resistance strain three-dimensional force sensor, it is necessary to The decoupling matrix of the for...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L25/00
CPCG01L25/00
Inventor 张铁胡广邹焱飚
Owner SOUTH CHINA UNIV OF TECH
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