机器人用力觉传感器校准方法研究与实践  

Research and Practice on Calibration Methods for Robot Force Sensing Sensors

作　　者：管志钢 何建新 毛勤卫 李志峰 刘浩 GUAN Zhigang;HE Jianxin;MAO Qinwei;LI Zhifeng;LIU Hao

机构地区：[1]常州检验检测标准认证研究院

出　　处：《计量与测试技术》2024年第4期22-24,共3页Metrology & Measurement Technique

基　　金：江苏省市场监督管理局科技计划项目立项资助(项目编号:KJ2022034)。

摘　　要：本文通过对多分量力传感器单独校准的不足进行分析,并根据其内部单分量测量力与多分量解耦原理,研发了参考式组合同步校准装置。该装置实现了各分量独立或任意组合校准,且满足分量间耦合误差指标校准要求,已成功应用于机器人用力觉传感器校准实践。Based on the analysis of the shortcomings of the single calibration of the multi-component force sensor and the decoupling principle of the single-component force measurement and multi-component measurement, a reference combination synchronous calibration device is developed.The device realizes the independent or arbitrary combination calibration of each component, and meets the calibration requirements of the coupling error index between components, and has been successfully applied to the calibration practice of robot force sensor.

关 键 词：机器人 多分量力 传感器 校准 方法 装置 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]