一种机器人六维腕力传感器的标定方法  

A Calibration Method for Robot of Six Axis Force Sensor

作　　者：郑朝阳[1] 翟其建[1] 赵金鹏 

机构地区：[1]中国船舶重工集团公司第七一六研究所,连云港222006

出　　处：《自动化与仪表》2018年第1期41-45,50,共6页Automation & Instrumentation

摘　　要：该文结合所用六维腕力传感器的结构形式提出了其标定的方法,分析了传感器耦合的原因,对解耦的方法进行了研究,用试验方法对传感器进行了标定,得出了标定矩阵C,运用Matlab软件对各单维力/力矩的试验结果进行了线性拟合,结果显示线性化较好,弹性体结构设计合理,试验验证后结果显示标定矩阵C误差较小,符合机器人使用要求。最后分析了标定中误差产生的原因,提出了减少误差的措施,具有重要的工程实践意义。Combined with the structure of the six dimensional wrist force sensor,the calibration method was put for- ward,the reason of the sensor coupling was analyzed,the decoupling method was studied,the sensor was calibrated using test method,the calibration matrix C was obtained,the test results of each couple/torque were fitted by Matlab software,the results show that the linearization is good,the elastomer structure design is reasonable,the results show that the error of the calibration matrix C is small,which meets the requirements of the robot. Finally,the causes of the errors in calibration are analyzed,and the measures to reduce the errors are proposed,which have important engineering practical significance.

关 键 词：机器人 六维力 传感器 标定方法 误差分析 

分 类 号：TH16[机械工程—机械制造及自动化]