Gravity Compensation Method for Precision Grinding and Polishing Robot
The purpose of this paper is to eliminate the influence of gravity vector on the end force perception of the industrial robot in different position and pose conditions in the process of precision grinding and polishing,so as to accurately control the three-dimensional grinding force,a gravity compensation algorithm is proposed.The method is to read the force and torque information of the robot under multiple random positions and poses based on the six-dimensional force sensor installed at the end.The sensor error,the deviation of the robot world coordinate system,the size and coordinates of the center of gravity of the terminal load can be calculated by using Kalman filter to de-noise the data of the sensor information.According to the above parameters and the robot's current attitude,the effect of load gravity can be eliminated in real time.The results show that the experimental data are from the static robot.The experimental data are from the static robot.The algorithm is used to compensate the gravity of the static robot,and the gravity after compensation is approximately zero.The conclusion is that the algorithm proposed in this paper can measure the external force and torque on the end load of the manipulator satisfying the machining accuracy by using the sensor data under the general attitude of the robot and fully considering the coupling effect between the parameters affecting the gravity compensation.
six dimensional force sensorindustrial robotgravity compensationsystem calibration
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