An imu-based six-dimensional force sensor compensation method and system

Abstract

The application belongs to the technical field of force sensors, and particularly discloses a six-dimensional force sensor compensation method and system based on IMU, which obtains an attitude rotation matrix through IMU data obtained by an IMU fixedly connected with the six-dimensional force sensor; obtains load mass, mass center position and sensor zero point by combining force component and torque component data obtained by the six-dimensional force sensor; obtains an inertia tensor according to the load mass and the mass center position, and further obtains a load inertia force; in actual use, a load gravity component is calculated through real-time collected IMU data, the six-dimensional force sensor measurement value is compensated according to the load gravity component, the inertia force and the sensor zero point, and a contact force wrench between the load and the environment is obtained. The application can compensate the sensor zero point, the gravity component and the inertia force simultaneously without relying on a robot, realizes high-precision compensation of the six-dimensional force sensor, and obtains more accurate external environment contact force.

Images