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Installation posture calibration method of six-dimensional force sensor at the end of industrial robot

A six-dimensional force sensor and industrial robot technology, which is applied in the direction of instruments, manipulators, measuring devices, etc., can solve problems such as attitude conversion errors

Active Publication Date: 2019-08-20
BEIJING INST OF SPACECRAFT ENVIRONMENT ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The attitude conversion relationship obtained by this method depends on the machining accuracy of the robot end interface, adapter, and sensor installation interface. Machining errors will bring corresponding attitude conversion errors.

Method used

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  • Installation posture calibration method of six-dimensional force sensor at the end of industrial robot
  • Installation posture calibration method of six-dimensional force sensor at the end of industrial robot
  • Installation posture calibration method of six-dimensional force sensor at the end of industrial robot

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Embodiment Construction

[0034] The following is a specific implementation manner of the content of the present invention, and the content of the present invention will be further clarified through the specific implementation mode below. Of course, the following specific embodiments are described only to illustrate different aspects of the present invention, and should not be construed as limiting the scope of the present invention.

[0035] Such as figure 1 As shown, the fixed end of the six-dimensional force sensor 2 is connected to the end flange 5 of the robot, the sensitive end of the six-dimensional force sensor 2 is connected to the clamp 4, and the clamp 4 clamps the workpiece 3.

[0036] The tool coordinate system of the robot 1 is fixedly connected with the end flange 5, and the coordinate system of the six-dimensional force sensor 2 is fixedly connected with itself.

[0037] Define the coordinate system as follows:

[0038] Robot 1 tool coordinate system OT-XTYTZT;

[0039] Six-dimension...

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Abstract

The invention discloses an installation posture calibration method of a six-dimension force sensor at the end of an industrial robot. By controlling the robot to move along the coordinate axes of the robot, readings of various axes of the six-dimension force sensor are changed due to inertia force in movement, so that direction relation between the corresponding coordinate axes of the robot and the coordinate axes of the six-dimension force sensor can be calibrated according to corresponding sensor readings, and relative posture calibration between a sensor coordinate system and a robot coordinate system can be realized. The installation posture calibration method can determine conversion relation between the sensor coordinate system and the robot coordinate system, and then sensor data is converted to the robot coordinate system for movement control of the robot.

Description

technical field [0001] The invention belongs to the technical field of sensor control of industrial robots, and in particular relates to a method for calibrating the installation attitude of a six-dimensional force sensor at the end of an industrial robot. Background technique [0002] The six-dimensional force sensor is often installed at the end of the robot to measure the force information of the end during the working process of the robot. The six-dimensional force sensor has its own inherent coordinate system and can measure the three-dimensional orthogonal force and three-dimensional orthogonal moment in any force system in space. The data directly measured by the six-dimensional force sensor is based on its own coordinate system. In addition, industrial robots also have their own inherent coordinate system. After installing the six-dimensional force sensor at the end of the robot, it is hoped to control the movement of the robot through the data feedback of the force...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/08G01L25/00
Inventor 胡瑞钦张立建孟少华王鹏飞刘同辉雷文仿樊志国刘福全王振董悫
Owner BEIJING INST OF SPACECRAFT ENVIRONMENT ENG