一种重力环境下的机械臂末端受力感知技术研究

In tasks such as the processing and assembly of industrial robotic arms that have strict requirements on contact force,Generally, a six-dimensional force sensor needs to be installed at the end of the robot arm.Aiming at the force sensing error of the sensor, the source of the error is analyzed, and a six-dimensional force sensor force sensing model is proposed, which takes into account factors such as the effect of load gravity, the weight of the sensor, the zero point of the sensor, and the force coefficient.A calibration method for model parameters is proposed. This method uses a gyroscope to compensate for attitude errors such as the inclination of the base and the joint errors of the robotic arm. It collects multiple sets of six-dimensional force sensor data in different attitudes, and uses the least square method to obtain the force coefficient, zero-point error of the six-dimensional force sensor, Parameters of load gravity and coordinates of load center of gravity.Finally, the calibration parameters were used to perform gravity compensation. Three experiments are designed to verify the effectiveness of the algorithm.In the experiment, the error of the sensor\'s sensing external force is within 0.23% of the load gravity, the error of the sensing external torque is within 0.79% of the load-to-sensor torque, the calibration error of the load mass is 0.089% of the actual load mass,and the calibration error of the load center of gravity is within 1.245% .