Synchronous calibration method for zero deviation and load parameters of robot end force sensor

Abstract

The invention provides a synchronous calibration method for zero deviation and load parameters of a robot end force sensor. The method comprises the following steps of: establishing a force sensor measuring force model and a torque model; calibrating the identification movement of an industrial robot, designing a calibration motion, and making the industry robot is in a variety of specific configurations, and obtaining the transformation matrix of the corresponding world coordinate system to the sensor coordinate system, so that the sensor zero deviation and the load gravity or gravitational torque are decoupled; according to the relationship between the measured values of the force sensor and the load gravity of the industrial robot in various specific configurations, by collecting the measured values of the force sensor during the motion process, obtaining the force sensor zero deviation and the tool load gravity parameter to be identified synchronously. The method utilizes the specific shape of the robot to obtain a transformation matrix for decoupling the force sensor zero deviation and the load gravity parameter, which is applicable not only to the robot ground installation, but also to the wall installation, the hoisting and the oblique installation.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a method for synchronously calibrating zero bias and load parameters of a robot terminal force sensor. Background technique [0002] In the field of industrial manufacturing, there are many parts that require post-processing after welding, casting, forming or machining, including grinding, polishing and deburring. For example, engine block, cylinder head, gearbox housing, and automobile hub in the automotive industry; bathroom hardware in the general industry; laptops, tablets, and mobile phones in the 3C industry. Compared with hand-held grinding, robot grinding can effectively improve production efficiency, reduce costs, and improve product yield. However, due to other factors such as the rigidity of the mechanical arm and positioning errors, it is easy to use robots to clamp electric and pneumatic products for irregular surface treatment. Breaking of the tool or dam...

AI Technical Summary

Problems solved by technology

Standard tool loads can be obtained through CAD modeling, but due to the existence of machining errors and the diversification of application scenarios, the gravity parameters of tool loads with complex configurations are often difficult to obtain accurately, so the identification of load gravity parameters is to achieve external force estimation and force analysis. important part of control

In addition, most of the current force sensors have a certain zero bias and temperature drift due to the limitation of their physical principles. In order to obtain accurate external force information, it is also necessary to estimate this value

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