Robot Force Sensor Calibration Using Joint Torque Vectors
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Solution Overview
Problem
Conventional methods require users to manually calculate the positional relation between a force sensor and the end of an industrial robot's arm, which is complex and burdensome, especially for novice users.
Innovation Solution
A method that automatically determines the transformation relation between vectors from the force sensor and the robot's joint torque, allowing users to input forces without needing to calculate coordinate transformations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If users manually calculate the positional relation between force sensor and robot arm end, then control precision is improved, but operation complexity increases
Solution Approach 1:
The system automatically determines the transformation relation between the force sensor coordinate system and robot arm end coordinate system through self-calibration procedures. The robot executes predetermined motion patterns and the controller automatically calculates the transformation parameters, eliminating the need for users to manually perform complex coordinate transformation calculations while maintaining high control precision.
Solution Approach 2:
The system changes the operational parameters from requiring manual transformation matrices to using automatic calibration data. By storing and applying predetermined transformation relations obtained through automated calibration procedures, the system maintains measurement precision while significantly simplifying the operational process for users.
2Ease of operation
If automatic transformation determination is implemented, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The controller is designed to perform multiple functions: it controls the robot arm's motion, processes force sensor data, executes calibration procedures, and automatically calculates transformation relations. By integrating these diverse functions into a single controller, the system achieves automatic transformation determination without proportionally increasing overall device complexity.
Solution Approach 2:
The system performs calibration procedures in advance to determine and store transformation relations between coordinate systems. These predetermined transformation parameters are then reused during normal operation, eliminating the need for repeated complex calculations and reducing the computational burden during actual use, thereby simplifying operation without requiring excessively complex real-time processing capabilities.
3Measurement precision
If coordinate transformation calculations are required, then measurement precision is improved, but time consumption increases
Solution Approach 1:
The system performs coordinate transformation calibration in advance and stores the transformation parameters. During normal force measurement operations, the pre-calculated transformation relations are directly applied without requiring real-time calculation, thus maintaining measurement precision while significantly reducing time consumption during actual robot operations.
Solution Approach 2:
The system creates and stores a mathematical model (transformation matrix) that represents the spatial relationship between the force sensor and robot arm end. This copied transformation model can be repeatedly applied to multiple force measurements without requiring recalculation, maintaining precision while minimizing time loss across multiple operations.
Data Source
AI summary
Embodiments of the present disclosure relate to a method, a device and a computer readable media for use with robot. The robot has at least one arm. The method includes receiving a force applied onto a force sensor attached at an end of the arm; determining a first vector from the force sensor; determining a second vector based on a torque of a joint of the robot, the joint being coupled to the arm; and determining a transformation relation between the first vector and the second vector.