Method for sensing dynamic stress of load at tail end of robot
A robot and dynamic technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as force perception errors and achieve the effect of improving precision
Active Publication Date: 2021-12-10
BEIJING INST OF SPACECRAFT ENVIRONMENT ENG
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It is difficult to take all these factors into account by analytical methods, and the influence of some factors is often ignored for simplification, so that the mathematical derivation can be carried out smoothly, which inevitably brings force perception errors
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[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0032] see Figure 1-2 , the present invention provides a technical solution:
[0033] A method for dynamic force sensing of a robot end load, comprising installing a six-dimensional force sensor 2 between the end of a robot 1 and a load 3, and installing an inertial measurement unit 4 at the end of the robot 1, comprising the following steps:
[0034] S1. Determine the movement path of the machine sample collection robot 1:
[0035] a. Determine the allowable mo...
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The invention discloses a method for sensing the dynamic stress of a load at the tail end of a robot. The method is characterized in that a six-dimensional force sensor is installed between the tail end of the robot and the load, and an inertial measurement unit is installed at the tail end of the robot. The method comprises the following step: S1, determining a machine sample and collecting the motion path of the robot: a, determining the allowable motion range of each shaft of the robot; so as to ensure that all parts do not interfere and collide when the robot moves within the range; and b, uniformly dividing the respective motion range of each shaft of the robot into N parts (N is greater than or equal to 2), and taking the position of each division point as an alternative position point of the shaft. According to the method, a machine learning mode is adopted for sensing the dynamic stress of the tail end of the robot, and compared with an existing mode, pre-calibration of related physical quantities is not needed, precise fitting can be conducted on nonlinear errors (such as robot tail end pose errors) are difficult to analyze and model, and the sensing precision of the load stress of the tail end of the robot can be improved.
Description
technical field [0001] The invention relates to the technical field of robot control, in particular to a dynamic force sensing method of a robot end load. Background technique [0002] In order to realize the precise force perception of the end load of the robot, a six-dimensional force sensor is usually installed between the end flange of the robot and the end load of the robot. The six-dimensional force sensor can accurately measure three-dimensional orthogonal forces (Fx, Fy, Fz) and three-dimensional orthogonal moments (Mx, My, Mz) in any force system in space. [0003] During the dynamic adjustment process of the robot, the force and moment data measured by the six-dimensional force sensor on the robot wrist are caused by four parts, namely: 1. The sensor's own system error; 2. The influence of load gravity; 3. The inertial force and inertia of the load Moment; 4. The external force on the load. [0004] It can be seen that in order to obtain the external force on the...
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IPC IPC(8): B25J9/16B25J13/08
CPCB25J9/161B25J9/1633B25J9/1664B25J13/085
Inventor 胡瑞钦董悫张成立孟少华张立建
Owner BEIJING INST OF SPACECRAFT ENVIRONMENT ENG