CN106994687B - Industrial robot end six-dimension force sensor Installation posture scaling method - Google Patents
Industrial robot end six-dimension force sensor Installation posture scaling method Download PDFInfo
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- CN106994687B CN106994687B CN201710201653.XA CN201710201653A CN106994687B CN 106994687 B CN106994687 B CN 106994687B CN 201710201653 A CN201710201653 A CN 201710201653A CN 106994687 B CN106994687 B CN 106994687B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of industrial robot end six-dimension force sensor Installation posture scaling methods, by control Robot its own reference axis movement, due to the inertia force in movement, cause each axis of six-dimension force sensor to read to change, so as to calibrate the direction relations of robot corresponding axis Yu sensor coordinates axis by corresponding sensor reading, realize that the relative attitude of sensor coordinate system and robot coordinate system are demarcated.Installation posture scaling method of the invention can determine the transformational relation between sensor coordinate system and robot coordinate system, and then sensing data is converted to robot coordinate system, the motion control for robot.
Description
Technical field
The invention belongs to industrial robot technical field of sensory control, and in particular to a kind of industrial robot end six-dimensional force
Sensor Installation posture scaling method.
Background technique
Six-dimension force sensor is often mounted on robot end, for the end stress letter in the robot measurement course of work
Breath.Six-dimension force sensor has its own intrinsic coordinate system, can measure the three-dimensional orthogonal power and three in arbitrary force system in space
Tie up orthogonal torque.Coordinate system of the data that six-dimension force sensor directly measures based on its own.In addition, industrial robot also has
Its own intrinsic coordinate system, after six-dimension force sensor is mounted on robot end, it is desirable to anti-by the data of force snesor
Feedback control robot motion, in this way, firstly the need of the installation relation of clear sensor and the machine human world, so that it is determined that sensor out
Transformational relation between coordinate system and robot coordinate system, and then sensing data can be converted to robot coordinate system, it uses
In the motion control of robot.
Determined currently, the installation relation in sensor and the machine human world relies primarily on machinery positioning, by design robot with
On the adapter of sensor, and the Design Orientation feature on adapter, such as pin, pin hole, with robot end, sensor
Pin, pin hole cooperation, it is ensured that the installation relation of sensor and the machine human world.By the design size of adapter, biography is directly obtained
Posture transformational relation between sensor and robot coordinate system.The posture transformational relation that this method obtains depends on robot end
Interface, adapter, sensor install the machining accuracy of interface three, and machining error can bring corresponding posture to convert
Error.
To solve posture conversion accuracy to the Dependence Problem of each component machining accuracy, the present invention proposes industrial robot
End six-dimension force sensor Installation posture online calibration method, after sensor and robot are fixed with any attitude installation,
The installation relation that sensor Yu the machine human world can be calibrated, obtained certainly posture transformational relation and component machining accuracy without
It closes, this helps to break through limitation of the component machining accuracy to posture conversion accuracy, further increases robot and feels accordingly
Precision should be controlled.
Summary of the invention
Based on this, the purpose of the present invention is to provide a kind of calibration of industrial robot end six-dimension force sensor Installation posture
Method, solve six-dimension force sensor robot end's Installation posture problem of calibrating, by control Robot its own
Reference axis movement causes each axis of six-dimension force sensor to read and changes, so as to by right due to the inertia force in movement
The sensor reading answered calibrates the direction relations of robot corresponding axis Yu sensor coordinates axis, realizes sensor coordinate system
It is demarcated with the relative attitude of robot coordinate system.
The present invention is achieved through the following technical solutions:
Industrial robot end six-dimension force sensor Installation posture scaling method, includes the following steps:
1) there is the workpiece of certain mass in the fixed setting of six-dimension force sensor tool ends end, in the static shape of industrial robot
Under state, the force data of three axis of six-dimension force sensor is read, as initial value, in which:
2) control industrial robot does positive accelerated motion along tool coordinates system X-axis, during which acquires six-dimension force sensor number
According toBe calculated unit of the robot tool coordinate system X-axis under six-dimension force sensor coordinate system to
Amount:
3) control industrial robot does positive accelerated motion along tool coordinates system Y-axis, during which acquires six-dimension force sensor number
According toBe calculated unit of the robot tool coordinate system Y-axis under six-dimension force sensor coordinate system to
Amount are as follows:
4) control industrial robot does positive accelerated motion along tool coordinates system Z axis, during which acquires six-dimension force sensor number
According toBe calculated unit of the robot tool coordinate system Z axis under six-dimension force sensor coordinate system to
Amount are as follows:
5) calculated result by step 2), 3), 4) is obtained by robot tool coordinate system to six-dimension force sensor coordinate system
Posture changing matrix:
Robot tool coordinate system can be realized to posture between six-dimension force sensor coordinate system using the posture changing matrix
Mutual conversion, calibration so far complete.
In above-mentioned technical proposal, the robot is the 6DOF industrial robot of tandem.
In above-mentioned technical proposal step 2), control Robot tool coordinates system X-axis does positive accelerated motion, it is assumed that period
The acceleration at a certain moment is expressed as under robot tool coordinate system:
ThenIt is expressed as under six-dimension force sensor coordinate system:
Assuming that the load quality at six-dimension force sensor sensitivity end is m, then robot accelerates bring load inertia power
Are as follows:
When robot motion, the power that six-dimension force sensor measures is by starting forceAnd inertia forceComposition, it may be assumed that
Then it obtains:
Due toBe unit vector, then formula (2) can be obtained by formula (10), according to same principle can derive formula (3),
(4)。
Six-dimension force sensor Installation posture scaling method in industrial robot end proposed by the present invention can be determined to sense
Transformational relation between device coordinate system and robot coordinate system, and then sensing data can be converted to robot coordinate system,
Motion control for robot.
Detailed description of the invention
Fig. 1 is that six-dimension force sensor of the invention is mounted on the status diagram on industrial robot.
Wherein, 1- robot；2- six-dimension force sensor；3- workpiece；4- fixture；5- robot end's flange.
Specific embodiment
Introduced below is the specific embodiment as content of the present invention, below by specific embodiment to this
The content work of invention further illustrates.Certainly, description following detailed description is only example not Tongfang of the invention
The content in face but should not be understood as the limitation scope of the invention.
As shown in Figure 1,2 fixing end of six-dimension force sensor is connected to robot end's flange 5, six-dimension force sensor 2 is sensitive
Jockey 4 on end, 4 clamping workpiece 3 of fixture.
1 tool coordinates system of robot and end flange 5 are connected, and 2 coordinate system of six-dimension force sensor is connected with its own.
It is as follows to define coordinate system:
1 tool coordinates system OT-XTYTZT of robot；
2 coordinate system OS-XSYSZS of six-dimension force sensor.
Robot 1 under static state, 2 dynamometry initial value of six-dimension force sensor are as follows:
It controls robot 1 and does positive accelerated motion along tool coordinates system X-axis, during which the acceleration at a certain momentIn coordinate
It is under OT-XTYTZT are as follows:
Note 1 tool coordinates system X-direction of robot unit vector beIn coordinate system
OT-XTYTZT may be expressed as:
Assuming thatIt may be expressed as: at 2 coordinate system OS-XSYSZS of six-dimension force sensor
Then accelerationIt may be expressed as: at OS-XSYSZS
Inertia force caused by robot 1 moves is under 2 coordinate system of six-dimension force sensor are as follows:
Wherein m is load quality.When robot 1 moves, the power that six-dimension force sensor 2 measures is by starting forceAnd inertia forceComposition, it may be assumed that
And then it obtains:
Due toIt is unit vector, then:
Similarly control robot 1 does positive accelerated motion along tool coordinates system Y, Z axis, for 1 tool coordinates system of robot
Y, the unit vector of Z-directionIt may be expressed as: under 2 coordinate system of six-dimension force sensor
Then by the rotation transition matrix of coordinate system OT-XTYTZT to coordinate system OS-XSYSZS are as follows:
The calibration of 2 Installation posture of six-dimension force sensor pass is just completed in this way.
The principle of the present invention is explained above, by control Robot its own reference axis move, due to movement in
Inertia force, cause six-dimension force sensor each axis read change, so as to be calibrated by corresponding sensor reading
The direction relations of robot corresponding axis and sensor coordinates axis, realization sensor coordinate system and robot coordinate system's is opposite
Posture calibration.
Although the detailed description and description of the specific embodiments of the present invention are given above, it should be noted that
Those skilled in the art can spirit according to the present invention various equivalent changes and modification, institute are carried out to above embodiment
The function of generation, should all be within that scope of the present invention in the spirit covered without departing from specification and attached drawing.
Claims (3)
1. industrial robot end six-dimension force sensor Installation posture scaling method, includes the following steps:
1) there is the workpiece of certain mass in the fixed setting of six-dimension force sensor tool ends end, in the stationary state of industrial robot
Under, the force data of three axis of six-dimension force sensor is read, as initial value, in which:
2) control industrial robot does positive accelerated motion along tool coordinates system X-axis, during which acquires six-dimension force sensor dataUnit vector of the robot tool coordinate system X-axis under six-dimension force sensor coordinate system is calculated:
3) control industrial robot does positive accelerated motion along tool coordinates system Y-axis, during which acquires six-dimension force sensor dataUnit vector of the robot tool coordinate system Y-axis under six-dimension force sensor coordinate system is calculated
Are as follows:
4) control industrial robot does positive accelerated motion along tool coordinates system Z axis, during which acquires six-dimension force sensor dataUnit vector of the robot tool coordinate system Z axis under six-dimension force sensor coordinate system is calculated
Are as follows:
5) calculated result by step 2), 3), 4) obtains the appearance by robot tool coordinate system to six-dimension force sensor coordinate system
State transformation matrix:
Robot tool coordinate system can be realized to posture between six-dimension force sensor coordinate system using the posture changing matrix
Mutually conversion, calibration are so far completed.
2. the method for claim 1, wherein the robot is the 6DOF industrial robot of tandem.
3. the method for claim 1, wherein control Robot tool coordinates system X-axis does positive accelerated motion, it is assumed that
The acceleration at period at a certain moment is expressed as under robot tool coordinate system:
ThenIt is expressed as under six-dimension force sensor coordinate system:
Assuming that the load quality at six-dimension force sensor sensitivity end is m, then robot accelerates bring load inertia power are as follows:
When robot motion, the power that six-dimension force sensor measures is by starting forceAnd inertia forceComposition, it may be assumed that
Then it obtains:
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108284456A (en) * | 2018-01-31 | 2018-07-17 | 哈尔滨工业大学 | Gravitational compensation method in sensor load external force measurement based on dimensionality reduction parsing |
| CN108956003B (en) * | 2018-07-17 | 2020-10-20 | 崧智智能科技(苏州)有限公司 | Method and device for calibrating six-dimensional sensor posture in real time and terminal equipment |
| CN108818538A (en) * | 2018-07-17 | 2018-11-16 | 杭州崧智智能科技有限公司 | A kind of method, apparatus and terminal device of real-time calibration robot sensor posture |
| CN109822574B (en) * | 2019-03-20 | 2021-01-05 | 华中科技大学 | Industrial robot end six-dimensional force sensor calibration method |
| CN110160701B (en) * | 2019-06-26 | 2020-12-08 | 中国科学院长春光学精密机械与物理研究所 | Six-dimensional force calibration equipment |
| CN111351615B (en) * | 2020-03-25 | 2021-07-20 | 东南大学 | High-precision small-sized on-orbit calibration device and method for spatial station mechanical arm six-dimensional force sensor |
| CN112710424B (en) * | 2020-12-08 | 2021-08-24 | 上海交通大学 | Method for calibrating six-dimensional force sensor at tail end of robot |
| CN113189367A (en) * | 2021-04-01 | 2021-07-30 | 中国第一汽车股份有限公司 | Acceleration sensor detection device |
| CN113790963A (en) * | 2021-11-16 | 2021-12-14 | 南京东仪新智能科技有限公司 | Drawing and stretching test device and drawing and stretching test method |
| CN114791333B (en) * | 2022-03-17 | 2024-04-30 | 清华大学 | Force sensor measurement coordinate system calibration method, device, equipment and storage medium |
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| JP3767643B2 (en) * | 1996-12-02 | 2006-04-19 | 株式会社安川電機 | Teaching force sensor |
| CN102566751B (en) * | 2004-04-30 | 2016-08-03 | 希尔克瑞斯特实验室公司 | Free space pointing devices and method |
| CN103600354B (en) * | 2013-11-08 | 2016-10-05 | 北京卫星环境工程研究所 | Spacecraft mechanical arm flexible follow-up control gravity compensation |
| CN103600351A (en) * | 2013-11-11 | 2014-02-26 | 北京航空航天大学 | Six-axis-force-torque transducer based six-freedom-degree robot operating system and control method thereof |
| CN104006778B (en) * | 2014-06-12 | 2017-04-19 | 埃夫特智能装备股份有限公司 | Calibration method of installation position of clamp at tail end of industrial robot |
| CN105643641B (en) * | 2014-11-11 | 2017-08-11 | 沈阳新松机器人自动化股份有限公司 | Force sensor caliberating device, scaling method and force control robot |
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