Six-dimensional torque sensor acquisition system at the end of robot with automatic compensation and its zero drift compensation method and zero drift acquisition method

Abstract

The invention discloses a self-compensating robot tail end six-dimensional torque transducer collecting system and a zero-drift compensating method and zero-drift obtaining method thereof, and belongs to the field of information collection of robot transducer systems. In order to solve the problem that the degree of accuracy of collected data of an existing robot tail end six-dimensional torque transducer collecting system is low, a force moment signal and a temperature signal which are input by the collecting system undergo information conditioning, collecting and signal processing in sequence, and a signal processor enables the data of a transducer combined with a temperature drift curve to be compensated to a force moment signal input module; a digital analog converter is used for converting a zero-drift compensating voltage output by the signal processor into an analog signal to be input to the force moment signal input module, and the signal processor conducts data exchange with an upper computer through a communication module. The zero-drift compensating method is realized by the way that the zero-drift compensating voltage or the resistance of the force moment signal input module is adjusted to meet the fixed formula requirement. The self-compensating robot tail end six-dimensional torque transducer collecting system and the zero-drift compensating method and zero-drift obtaining method thereof are used for signal collection of robot tail end six-dimensional torque transducers.

Description

technical field

[0001] The invention relates to a six-dimensional torque sensor acquisition system at the end of a robot with automatic compensation, belonging to the field of information acquisition by robot sensor systems. Background technique

[0002] In recent years, the human-computer interaction ability of robots has been paid more and more attention, and robots with multi-perception capabilities have become an important direction for the development of robots. The six-dimensional torque sensor acquisition system at the end of the robot with automatic compensation function is the core component of the composition and control of the manipulator, which can directly affect the overall control accuracy of the manipulator. The design of the six-dimensional torque sensor at the end of the manipulator enhances the human-computer interaction capability of the manipulator and ensures the safety of people in the man-machine interaction. In addition, the compliance control and f...

Examples

specific Embodiment approach 1

[0032] Specific implementation mode one: combine figure 1 Describe this embodiment, the six-dimensional torque sensor acquisition system at the end of the robot with automatic compensation described in this embodiment includes a torque signal input module 9, a digital-to-analog converter 2, a first signal conditioning module 3, and a second signal conditioning module 4. Sensor signal acquisition module 5, signal processor 6 and communication module 7;

[0033] The torque signal V output by 8 torque signal input modules 9 O1 respectively input to the 8 positive input terminals of the first signal conditioning module 3, and the torque signal V output by the 8 torque signal input module 9 O2 Input to the 8 reverse input terminals of the first signal conditioning module 3 respectively, the 8-way torque conditioning signals output by the first signal conditioning module 3 are input to the sensor signal acquisition module 5, and the collected 8-way temperature signals are input to ...

specific Embodiment approach 2

[0039] Specific implementation mode two: combination figure 2 This embodiment is described. This embodiment is a further limitation of the six-dimensional torque sensor acquisition system at the end of the robot with automatic compensation described in Embodiment 1. The first signal conditioning module 3 includes a first amplifier circuit module 3-1 and the first filtering circuit module 3-2;

[0040] The torque signals output by the 8 torque signal input modules 9 are respectively input to the eight signal input terminals of the first amplifying circuit module 3-1, and the 8-way amplified signals output by the first amplifying circuit module 3-1 are sent to the first filter circuit module Eight signal input terminals of 3-2, the first filter circuit module outputs 8 torque conditioning signals;

[0041] The second signal conditioning module 4 includes a second amplifying circuit module 4-1 and a second filtering circuit module 4-2;

[0042] The collected 8-way temperature ...

specific Embodiment approach 3

[0047] Embodiment 3: This embodiment is a further limitation of the six-dimensional torque sensor acquisition system at the end of the robot with automatic compensation described in Embodiment 1. Considering the requirements of overload protection, the first amplifying circuit module 3-1 and the second The amplification factor of the second amplification circuit module 4-1 meets the requirement of amplifying the range of the input analog signal to 0.5V-4.5V.

technical field

[0001] The invention relates to a six-dimensional torque sensor acquisition system at the end of a robot with automatic compensation, belonging to the field of information acquisition by robot sensor systems. Background technique

[0002] In recent years, the human-computer interaction ability of robots has been paid more and more attention, and robots with multi-perception capabilities have become an important direction for the development of robots. The six-dimensional torque sensor acquisition system at the end of the robot with automatic compensation function is the core component of the composition and control of the manipulator, which can directly affect the overall control accuracy of the manipulator. The design of the six-dimensional torque sensor at the end of the manipulator enhances the human-computer interaction capability of the manipulator and ensures the safety of people in the man-machine interaction. In addition, the compliance control and f...

Examples

specific Embodiment approach 1

[0032] Specific implementation mode one: combine figure 1 Describe this embodiment, the six-dimensional torque sensor acquisition system at the end of the robot with automatic compensation described in this embodiment includes a torque signal input module 9, a digital-to-analog converter 2, a first signal conditioning module 3, and a second signal conditioning module 4. Sensor signal acquisition module 5, signal processor 6 and communication module 7;

[0033] The torque signal V output by 8 torque signal input modules 9 O1 respectively input to the 8 positive input terminals of the first signal conditioning module 3, and the torque signal V output by the 8 torque signal input module 9 O2 Input to the 8 reverse input terminals of the first signal conditioning module 3 respectively, the 8-way torque conditioning signals output by the first signal conditioning module 3 are input to the sensor signal acquisition module 5, and the collected 8-way temperature signals are input to ...

specific Embodiment approach 2

[0039] Specific implementation mode two: combination figure 2 This embodiment is described. This embodiment is a further limitation of the six-dimensional torque sensor acquisition system at the end of the robot with automatic compensation described in Embodiment 1. The first signal conditioning module 3 includes a first amplifier circuit module 3-1 and the first filtering circuit module 3-2;

[0040] The torque signals output by the 8 torque signal input modules 9 are respectively input to the eight signal input terminals of the first amplifying circuit module 3-1, and the 8-way amplified signals output by the first amplifying circuit module 3-1 are sent to the first filter circuit module Eight signal input terminals of 3-2, the first filter circuit module outputs 8 torque conditioning signals;

[0041] The second signal conditioning module 4 includes a second amplifying circuit module 4-1 and a second filtering circuit module 4-2;

[0042] The collected 8-way temperature ...

specific Embodiment approach 3

[0047] Embodiment 3: This embodiment is a further limitation of the six-dimensional torque sensor acquisition system at the end of the robot with automatic compensation described in Embodiment 1. Considering the requirements of overload protection, the first amplifying circuit module 3-1 and the second The amplification factor of the second amplification circuit module 4-1 meets the requirement of amplifying the range of the input analog signal to 0.5V-4.5V.

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