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
管志钢 1何建新 1毛勤卫 1李志峰 1刘浩1
作者信息
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.
Abstract
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 be-tween 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Key words
robot/multicomponent force/sensor/calibration/method/device引用本文复制引用
基金项目
江苏省市场监督管理局科技计划立项项目(KJ2022034)
出版年
2024
NETL
NSTL
万方数据