机器人示教过程中六维力传感器安装误差计算  

The Calculation of the Installation Error of the Net Force/Torque Sensor in the Robot Teaching

作　　者：曹彤[1] 郜夯 刘达[2] CAO Tong;GAO Hang;LIU Da(School of Mechanical Engineering,University of Science&Technology Beijing,Beijing 100089,China;Institute of Robot Research,Beihang University,Beijing 100089,China)

机构地区：[1]北京科技大学机械工程学院,北京100089 [2]北京航空航天大学机器人研究所,北京100089

出　　处：《机械设计与制造》2022年第2期162-167,共6页Machinery Design & Manufacture

基　　金：国家重点研发计划(2017YFB1304304)。

摘　　要：六维力传感器在使用过程中,由于负载的连接方式、连接强度等一些因素会出现一个厂商无法在他们的生产过程中进行补偿的传感器的安装误差。针对这个传感器的安装误差,提出了一种能够有效计算该误差的方法。首先根据机器人及传感器、末端工具的连接结构进行分析,推导出传感器安装误差的计算方法,然后利用机器人进行多次测试,分析得到的数据并绘制曲线,与其他方法的结果进行比较,证实了该方法的可行性。在实际使用中,可以明显提高六维传感器的测量精度。Due to some factors such as the load fastening mode and fastening degree,there will be an installation error of the sensor when using a net force/torque sensor that the manufacturer cannot compensate in their production process. Aiming at the installation error of this sensor,a method which can effectively calculate the error is proposed. Firstly,based on the analysis of the connection structure of robot,sensor and end tool,the calculation method of sensor installation error is derived. After repeated tests with the robot,the feasibility of this method is verified by analyzing the data and drawing curves,and comparing with the results of other methods. The measurement accuracy of the force/torque sensor can be significantly improved in practical use.

关 键 词：机器人 六维力传感器 安装误差 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]