[1]黄树新,高海涛,朱松青,等.机器人基座六维力传感器重力补偿研究[J].机械与电子,2022,(01):76-80.
　HUANG Shuxin,GAO Haitao,ZHU Songqing,et al.Research on Gravity Compensation of Six-dimensional Force Sensor at the Base of Robot[J].Machinery & Electronics,2022,(01):76-80.
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机器人基座六维力传感器重力补偿研究()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2022年01期
页码:
76-80
栏目:
智能工程
出版日期:
2022-01-20

文章信息/Info

Title:
Research on Gravity Compensation of Six-dimensional Force Sensor at the Base of Robot
文章编号:
1001-2257 ( 2022 ) 01-0076-05
作者:
黄树新; 高海涛; 朱松青; 韩亚丽; 江王磊
南京工程学院机械工程学院,江苏 南京 211167
Author(s):
HUANG Shuxin ;  GAO Haitao ;  ZHU Songqing ;  HAN Yali ;  JIANG Wanglei
( College of Mechanical Engineering , Nanjing Institute of Technology , Nanjing 211167 , China )
关键词:
机器人; 六维力传感器; 静态重力补偿; 正交实验
Keywords:
robot ;  six-dimensional force sensor ;  static gravity compensation ;  orthogonal experiment
分类号:
TP242
文献标志码:
A
摘要:
机器人基座六维力传感器常受到安装精度和机器人重力影响而出现测量误差。为了解决这一问题,在利用 D-H 法建立机器人位姿模型的基础上,推导出基于最小二乘法的基座六维力传感器静态重力补偿算法。针对算法中需要采集大量机器人位姿数据的问题,采用正交实验法确定样本空间以减少位姿采集量。最后以六自由度协作机器人为例,利用 6 因素 5 水平的正交实验表获取机器人典型位姿,搭建数据采集平台,实现补偿算法所需数据的采集,求解该机器人的基座六维力传感器静态重力补偿矩阵。实验表明,该补偿算法能够有效得到基座六维力传感器测得的误差值。
Abstract:
The measurement error of the six-dimensional force sensor at the base of robot is often affected by the installation accuracy and the gravity of the robot.To solve this problem , based on the establishment of the robot pose model with the D-H method , the gravity compensation algorithm of the six dimensional force sensor based on the least square method at the base of robot is derived.Aiming at the problem that a large number of robot pose datamust be collected in the algorithm , the orthogonal experiment method is used to determine the sample space and reduce the number of pose collection.Finally taking a 6-DOF collaborative robot as an example , 6 factors and 5 levels orthogonal test is used to acquire robot typical pose , set up data acquisition platform , collect the data of the compensation algorithm , solve and get the static gravity compensation matrix of six-dimensional force sensor on the base of robot.The experiments show that the compensation algorithm can effectively obtain the error value of measurement from six-dimensional force sensor at the base of robot.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2021-09-14
基金项目:教育部人文社科基金( 18YJCZH032 );江苏省重点研发计划( BE2019724 );南京工程学院大学生科技创新项目( TB20211631 )
作者简介:黄树新 ( 1997- ),男,江苏盐城人,硕士研究生,研究方向为机器人技术;高海涛 ( 1979- ),男,山东临沂人,博士,副教授,研究方向为服务机器人;朱松青 ( 1969- ),男,江苏靖江人,博士,教授,硕士研究生导师,研究方向为机电系统集成与机器人技术;韩亚丽 ( 1978- ),女,河南驻马店人,博士,教授,研究方向为特种机器人;江王磊 ( 1997- ),男,浙江桐庐人,硕士研究生,研究方向为机器人技术。
更新日期/Last Update: 2022-03-02