Gravity compensation method for mechanical arm load mass and sensor null drift online recognition

Abstract

The invention provides a gravity compensation method for mechanical arm load mass and sensor null drift online recognition. The gravity compensation method comprises the steps that S1, a load mass center and mass recognition module is adopted for obtaining and recognizing the mass center and mass of loads at the tail end of a mechanical arm, and the recognized mass center and the recognized mass of the loads are obtained; S2, a sensor null drift recognition module is adopted for reading the numerical value of a sensor, calculation is performed according to the recognized mass center and the recognized mass, and sensor null drift is obtained; and S3, a gravity compensation module is adopted for performing gravity compensation on the numerical value of the sensor according to the sensor null drift. By means of the method, the problem that due to the additional force and torque introduced by the loads of the tail end of the mechanical arm to the tail-end six-dimensional force sensor by the gravity effect and the presence of sensor null drift errors, the numerical value of the sensor is inaccurate and the final force control effect is affected can be solved, and uncertainty of the sensor null drift determines the necessity of online recognition of the sensor null drift.

Description

technical field [0001] The invention relates to the technical field of mechanical arm applications, in particular to a gravity compensation method for online identification of the load mass of a mechanical arm and sensor zero drift. Background technique [0002] With the development of science and technology, robotic arms are playing an increasingly important role in tasks such as industrial production and space applications. From the analysis of the dynamic characteristics of the manipulator, it can be seen that gravity has a greater influence on the dynamic characteristics of the manipulator than friction, Coriolis force, and centrifugal force in the environment of gravity on the ground. Especially when the manipulator is in an extended state, the influence of gravity on each joint significantly. In order to improve the dynamic and steady-state performance of the manipulator, the mass and center-of-mass parameters of the end load generally need to be set before the manipu...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a gravity compensation method for on-line identification of the load quality characteristics of the mechanical arm and the zero drift of the sensor, to perform online identification for the above-mentioned gravity item and zero drift error, improve the force compensation and control accuracy of the mechanical arm, and solve the problem in In the ground environment, due to the influence of gravity, the load at the end of the manipulator introduces additional force and torque to the end six-dimensional force sensor; due to temperature and other reasons, the zero drift error of the sensor every time it is turned on is uncertain, and it is fixed within a certain period of time. value, the existence of sensor zero drift error will lead to inaccurate sensor values ​​and affect the technical problems of the final force control effect

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