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Force/torque sensor temperature compensation

A technology of torque sensor and temperature compensation, which is applied in the direction of instruments, force measurement, torque measurement, etc.

Active Publication Date: 2019-12-06
奥腾工业自动化(廊坊)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Understanding and compensating for temperature errors is a major challenge for robotic force / torque sensor design and operation

Method used

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  • Force/torque sensor temperature compensation
  • Force/torque sensor temperature compensation
  • Force/torque sensor temperature compensation

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Embodiment Construction

[0022] For purposes of brevity and illustration, the invention has been described primarily by reference to exemplary embodiments thereof. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one of ordinary skill in the art that the present invention may be practiced without limitation to these specific details. In this description, well-known methods and structures have not been described in detail in order not to unnecessarily obscure the invention.

[0023] Thermal Error Sources .

[0024] It is known in the art that temperature drift is a major source of inaccuracy in robotic force / torque sensors. The inventors have identified four main sources of temperature error.

[0025] First, the use of silicon strain gauges introduces thermal errors. Silicon strain gauges are preferred over metal foil strain gauges due to their high sensitivity. However, i...

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Abstract

Strain gages on a robotic force / torque sensor are individually temperature compensated prior to resolving the gage outputs to estimate force and torque loads on the sensor. Thermal sensors are mountedproximate each strain gage, and the initial gate and thermal sensor outputs at a known load and temperature are obtained. The force / torque sensor then undergoes warming, and strain gage and thermal sensor outputs are again obtained. These gage and thermal sensor outputs are processed to calculate coefficients to a temperature compensation equation, such as by using a least squares algorithm. Eachstrain gage output is compensated using the temperature compensation equation, and the temperature-compensated outputs of the strain gages are then combined to resolve temperature-compensated force and torque values.

Description

technical field [0001] The present invention relates generally to force / torque sensors for robotic applications, and in particular to thermal compensation of strain gauges on robotic force / torque sensors. Background technique [0002] Robotics is a growing and increasingly important field in industry, medicine, science and other applications. In many situations where a robotic arm or a tool attached to it contacts a workpiece, the applied force and / or torque must be closely monitored. Therefore, force / torque sensors are important components of many robotic systems. [0003] One traditional type of force / torque sensor uses strain gauges to measure the deformation of a small beam connecting two mechanical parts—one connected to a robotic arm and the other connected to a robotic tool (or mechanical linkage to the tool). For example, a central "hub" known in the art as a Tool Adapter Plate (TAP) connects to the tool. A further body, known in the art as a mounting adapter plat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L19/04G01L1/22G01L3/14
CPCG01L19/04G01L1/2281G01L3/1457G01L1/225G01L1/2287
Inventor D.弗莱斯纳A.格卢西克
Owner 奥腾工业自动化(廊坊)有限公司