CN110411641A - Six-dimensional force/torque sensor, compensation device and method - Google Patents
Six-dimensional force/torque sensor, compensation device and method Download PDFInfo
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- CN110411641A CN110411641A CN201910744558.3A CN201910744558A CN110411641A CN 110411641 A CN110411641 A CN 110411641A CN 201910744558 A CN201910744558 A CN 201910744558A CN 110411641 A CN110411641 A CN 110411641A
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- sensor
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- inertia
- force
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/26—Auxiliary measures taken, or devices used, in connection with the measurement of force, e.g. for preventing influence of transverse components of force, for preventing overload
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
Abstract
The present invention provides a kind of six-dimensional force/torque sensor, compensation device and methods, comprising: sensor outer housing 1, sensor circuit board 2, sensor base 3 and sensor compensation computing module；Sensor circuit board 2 includes: Inertial Measurement Unit 21, and Inertial Measurement Unit 21 can measure three axis angular rates and 3-axis acceleration simultaneously；Sensor base 3 includes: bracket 31；Sensor outer housing 1 and 3 assembly connection of sensor base, bracket 31 are fixedly installed in sensor base 3, and sensor circuit board 2 is fastenedly connected with bracket 31, and Inertial Measurement Unit 21 is integrally disposed on sensor circuit board 2；Sensor compensation computing module is connected with sensor circuit board 2, and the sensor compensation computing module is able to carry out gravity, inertia force and the moment of inertia compensation operation of load 4.The configuration of the present invention is simple, it is easy to use, it can be with real-time compensation load gravity, inertia force and moment of inertia.
Description
Technical field
The present invention relates to six-dimensional force/torque sensor fields, and in particular, to six-dimensional force/torque sensor, compensation device
And method, especially it is a kind of can real-time compensation load gravity item, inertia force and moment of inertia gravity and inertia force/torque compensation
Device and method.
Background technique
In recent years, the development with expanding economy, especially artificial intelligence and robot automation with advances in technology,
Six-dimensional force/torque sensor demand is set the neck such as increasingly to increase, and be widely used in automatic welding, crawl, installation, Shared control
Domain.Six-dimensional force, torque sensor can only measure the power and torque for acting on sensor at present, and this power and torque include to act on
The inertia force and moment of inertia that the power and torque and load self gravity item of load and movement generate.In some practical application fields
It closes, sensor user only wants to obtain the power and torque for acting on load, and used sensor generally can not be straight at present
It connects, effectively distinguish both power and torque.Some researchers can only calculate load by other measurement parameters of equipment
Then inertia force and moment of inertia obtain loading suffered power and torque by compensation operation, this method generally requires to grind
The person of studying carefully adds some additional measuring devices and operation program, becomes more sophisticated system, reduces the speed of service of system.
Patent document CN1385677A discloses a kind of twelve-dimension force/acceleration robot wrist sensor, this sensor
Six component forces/torque and six components linear acceleration/angular acceleration can be detected simultaneously, but the sensor structure of this structure is relatively negative
It carries, calibration is difficult, needs user's designed, designed compensation program.Therefore it is simple to need to design a kind of structure, it is easy to use, it can be with
The six-dimension force sensor of real-time compensation load inertia power and moment of inertia.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of six-dimensional force/torque sensors, compensation device
And method.
A kind of six-dimensional force/the torque sensor provided according to the present invention, comprising: sensor outer housing 1, sensor circuit board 2,
Sensor base 3 and sensor compensation computing module；Sensor circuit board 2 includes: Inertial Measurement Unit 21, inertia measurement list
Member 21 can measure three axis angular rates and 3-axis acceleration simultaneously；Sensor base 3 includes: bracket 31；Sensor outer housing 1 and biography
3 assembly connection of sensor pedestal, bracket 31 are fixedly installed in sensor base 3, and sensor circuit board 2 is fastenedly connected with bracket 31,
Inertial Measurement Unit 21 is integrally disposed on sensor circuit board 2；Sensor compensation computing module is connected with sensor circuit board 2
It connects, the sensor compensation computing module is able to carry out gravity, inertia force and the moment of inertia compensation operation of load 4.
Preferably, sensor compensation computing module is set to host computer or integrally disposed on sensor circuit board 2.
Preferably, the sensor circuit board 2 can export following any or appoint multi-signal :-analog quantity is believed
Number；Digital quantity signal.
A kind of compensation device provided according to the present invention, comprising: six-dimensional force/torque sensor.
Preferably, further includes: load 4；The load 4 is connected with each other with six-dimensional force/torque sensor；The six-dimensional force/
Torque sensor includes: sensor outer housing 1；The load 4 is fastenedly connected with sensor outer housing 1.
A kind of compensation method provided according to the present invention, comprising: test the speed step: by being placed in six-dimensional force/torque sensor
Three axis angular rates and 3-axis acceleration of the internal measurement of Inertial Measurement Unit 21 load 4, obtain three axis angular rate parameters and three
Axle acceleration parameter；Calculation step: according to three axis angular rate parameters and 3-axis acceleration parameter, obtain load 4 weight parameter,
Inertia force parameter/moment of inertia parameter；Compensation process: joined according to the weight parameter, inertia force parameter and moment of inertia of load 4
Number, compensation gravity, inertia force and moment of inertia to six-dimensional force/torque to sensor.
Preferably, the step that tests the speed includes: to create the first coordinate system step: the coordinate system of creation Inertial Measurement Unit 21；Wound
Build the second coordinate system step: creation sensor force measuring basis coordinate system；Create third coordinate system step: the matter of creation load 4
Heart coordinate system.
Preferably, test the speed step further include: differentiation step: taking differential to three axis angular rate parameters, obtains three shaft angles and accelerate
Spend parameter；The 3-axis acceleration parameter is the acceleration parameter of three reference axis of the coordinate system along Inertial Measurement Unit 21；
The three shaft angles acceleration parameter is the angular acceleration parameter of three reference axis of the coordinate system around Inertial Measurement Unit 21.
Preferably, calculation step include :-obtain gravity, inertia force and moment of inertia step: according to 3-axis acceleration and angle
Acceleration parameter obtains the coordinate of weight parameter, inertia force parameter and moment of inertia parameter in Inertial Measurement Unit 21 of load 4
System is lower and loads the expression under 4 geocentric coordinate system；Be simplified to coordinate system step: by under 21 coordinate system of Inertial Measurement Unit and
Load gravity, inertia force and the moment of inertia indicated under the geocentric coordinate system of load 4 transforms to sensor force measuring basis coordinate
System is lower to be indicated.
Preferably, compensation process includes: to obtain load suffered actual contact power and torque step: force snesor is surveyed
Magnitude subtracts gravity, inertia force and the moment of inertia of the load 4 indicated under sensor force measuring basis coordinate system, obtains following
Information: the suffered actual contact force information of-load；The suffered actual contact moment information of load.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, in the present invention, Inertial Measurement Unit is integrated on sensor circuit board by gravity and inertia compensation device, is passed through
Built-in compensation program makes the real-time output action of sensor in the power and torque of load, and the compensation device structure is simple, user
Just；
2, the present invention can be with real-time compensation load gravity, inertia force and moment of inertia；
3, the present invention can directly and efficiently distinguish gravity, inertia force and torque.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is flow diagram of the invention.
Fig. 2 is system schematic cross-sectional view of the invention.
Fig. 3 is system perspective view of the explosion of the invention.
Fig. 4 is the coordinate transform schematic diagram in the embodiment of the present invention.
In figure:
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
A kind of six-dimensional force/the torque sensor provided according to the present invention, comprising: sensor outer housing 1, sensor circuit board 2,
Sensor base 3 and sensor compensation computing module；Sensor circuit board 2 includes: Inertial Measurement Unit 21, inertia measurement list
Member 21 can measure three axis angular rates and 3-axis acceleration simultaneously；Sensor base 3 includes: bracket 31；Sensor outer housing 1 and biography
3 assembly connection of sensor pedestal, bracket 31 are fixedly installed in sensor base 3, and sensor circuit board 2 is fastenedly connected with bracket 31,
Inertial Measurement Unit 21 is integrally disposed on sensor circuit board 2；Sensor compensation computing module is connected with sensor circuit board 2
It connects, the sensor compensation computing module is able to carry out gravity, inertia force and the moment of inertia compensation operation of load 4.
Preferably, sensor compensation computing module is set to host computer or integrally disposed on sensor circuit board 2.
Preferably, the sensor circuit board 2 can export following any or appoint multi-signal :-analog quantity is believed
Number；Digital quantity signal.
A kind of compensation device provided according to the present invention, comprising: six-dimensional force/torque sensor.
Preferably, further includes: load 4；The load 4 is connected with each other with six-dimensional force/torque sensor；The six-dimensional force/
Torque sensor includes: sensor outer housing 1；The load 4 is fastenedly connected with sensor outer housing 1.
The device can compensate gravity, inertia force and the moment of inertia of tested load.Sensor includes sensor outer housing
1, sensor circuit board 2, sensor base 3, sensor circuit board 2 include Inertial Measurement Unit (IMU) 21, sensor base 3
Include bracket 31.Sensor outer housing 1 and 3 assembly connection of sensor base, bracket 31 are fixedly installed in sensor base 3, sense
Device circuit board 2 is fixed on bracket 31, and Inertial Measurement Unit (IMU) 21 is integrated on sensor circuit board 2, Inertial Measurement Unit
(IMU) 21 three axis angular rates and 3-axis acceleration can be measured simultaneously, sensor circuit board 2 can export analog signals,
Digital quantity signal can be exported, when exporting analog signals, sensor load gravity item, inertia force and moment of inertia compensation fortune
It calculates and is carried out in host computer, when exporting digital quantity signal, sensor load gravity item, inertia force and moment of inertia compensation operation can
It is carried out with being integrated on sensor circuit board 2.This gravity, inertia force and moment of inertia compensation sensor are by being placed in internal be used to
Property measuring unit measurement load three axis angular rates and 3-axis acceleration, by the way that the gravity of load, inertia force and used is calculated
Property torque and compensate arrive six-dimension force sensor, make actual contact power and torque suffered by sensor output loading.In the present invention
The configuration of force snesor is not specifically limited, and is also not necessarily sextuple force snesor.
A kind of compensation method provided according to the present invention, comprising: test the speed step: by being placed in six-dimensional force/torque sensor
Three axis angular rates and 3-axis acceleration of the internal measurement of Inertial Measurement Unit 21 load 4, obtain three axis angular rate parameters and three
Axle acceleration parameter；Calculation step: according to three axis angular rate parameters and 3-axis acceleration parameter, obtain load 4 weight parameter,
Inertia force parameter/moment of inertia parameter；Compensation process: joined according to the weight parameter, inertia force parameter and moment of inertia of load 4
Number, compensation gravity, inertia force and torque to six-dimensional force/torque to sensor.
Preferably, the step that tests the speed includes: to create the first coordinate system step: the coordinate system of creation Inertial Measurement Unit 21；Wound
Build the second coordinate system step: creation sensor force measuring basis coordinate system；Create third coordinate system step: the matter of creation load 4
Heart coordinate system.
Preferably, test the speed step further include: differentiation step: taking differential to three axis angular rate parameters, obtains three shaft angles and accelerate
Spend parameter；The 3-axis acceleration parameter is the acceleration parameter of three reference axis of the coordinate system along Inertial Measurement Unit 21；
The three shaft angles acceleration parameter is the angular acceleration parameter of three reference axis of the coordinate system around Inertial Measurement Unit 21.
Preferably, calculation step include :-obtain gravity, inertia force and moment of inertia step: according to 3-axis acceleration and angle
Acceleration parameter obtains the coordinate of weight parameter, inertia force parameter and moment of inertia parameter in Inertial Measurement Unit 21 of load 4
System is lower and loads the expression under 4 geocentric coordinate system；Be simplified to coordinate system step: by under 21 coordinate system of Inertial Measurement Unit and
Load gravity, inertia force and the moment of inertia indicated under the geocentric coordinate system of load 4 transforms to sensor force measuring basis coordinate
System is lower to be indicated.
Preferably, compensation process includes: to obtain load suffered actual contact power and torque step: force snesor is surveyed
Magnitude subtracts gravity, inertia force and the moment of inertia of the load 4 indicated under sensor force measuring basis coordinate system, obtains following
Information: the suffered actual contact force information of-load；The suffered actual contact moment information of load.As shown in figure 4, inertia
Compensation method principle is as follows: load 4 and 1 fixed-link of sensor outer housing, o1-x1y1z1It is the seat of Inertial Measurement Unit (IMU) 21
Mark system, o2-x2y2z2It is sensor force measuring basis coordinate system, o3-x3y3z3It is the geocentric coordinate system for loading 4, when sensor and bears
When load moves together, Inertial Measurement Unit (IMU) 21 can be exported along x1y1z1The acceleration a of three axisx1ay1az1With around these three axis
Angular speed wx1wy1wz1, angular velocity carries out differential can be in the hope of around x1y1z1The angular acceleration of three axisx1αy1αz1, according to formula
F=ma, M=J α and reduction of rigid body inertial force system principle, gravity, inertia force and the moment of inertia that load can be generated simplify
To coordinate system o1-x1y1z1Or o3-x3y3z3Lower expression, then transforms to coordinate system o again2-x2y2z2Lower expression, finally by mathematics
Operation compensates six-dimension force sensor measured value, then available in coordinate system o2-x2y2z2Lower expression acts on load
On actual contact power and torque.
In the present invention, Inertial Measurement Unit is integrated on sensor circuit board by gravity and inertia compensation device, by interior
Compensation program is set, makes the real-time output action of sensor in the power and torque of load, the compensation device structure is simple, easy to use；
The present invention can be with real-time compensation load gravity, inertia force and moment of inertia；The present invention can directly, effectively distinguish this gravity,
Inertia force and torque.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that the present invention provides and its other than each device, module, unit
System and its each device, module, unit with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and embedding
Enter the form of the controller that declines etc. to realize identical function.So system provided by the invention and its every device, module, list
Member is considered a kind of hardware component, and to include in it can also for realizing the device of various functions, module, unit
To be considered as the structure in hardware component；It can also will be considered as realizing the device of various functions, module, unit either real
The software module of existing method can be the structure in hardware component again.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of six-dimensional force/torque sensor characterized by comprising sensor outer housing (1), passes sensor circuit board (2)
Sensor pedestal (3) and sensor compensation computing module；
Sensor circuit board (2) includes: Inertial Measurement Unit (21), and Inertial Measurement Unit (21) can measure three shaft angles speed simultaneously
Degree and 3-axis acceleration；
Sensor base (3) includes: bracket (31)；
Sensor outer housing (1) and sensor base (3) assembly connection, bracket (31) are fixedly installed in sensor base (3), are sensed
Device circuit board (2) is fastenedly connected with bracket (31), and Inertial Measurement Unit (21) is integrally disposed on sensor circuit board (2)；
Sensor compensation computing module is connected with sensor circuit board (2), and the sensor compensation computing module is able to carry out
Load gravity, inertia force and the moment of inertia compensation operation of (4).
2. six-dimensional force/torque sensor according to claim 1, which is characterized in that the setting of sensor compensation computing module
In host computer or integrally disposed on sensor circuit board (2).
3. a kind of six-dimensional force/torque sensor according to claim 1, which is characterized in that the sensor circuit board (2)
It can export following any or appoint multi-signal:
Analog signals；
Digital quantity signal.
4. a kind of compensation device characterized by comprising the described in any item six-dimensional force/torque sensors of claims 1 to 3.
5. compensation device according to claim 4, which is characterized in that further include: load (4)；
The load (4) and six-dimensional force/torque sensor are connected with each other；
Six-dimensional force/the torque sensor includes: sensor outer housing (1)；
The load (4) is fastenedly connected with sensor outer housing (1).
6. a kind of compensation method characterized by comprising
Test the speed step: three axis by being placed in Inertial Measurement Unit (21) the measurement load (4) inside six-dimensional force/torque sensor
Angular speed and 3-axis acceleration obtain three axis angular rate parameters and 3-axis acceleration parameter；
Calculation step: according to three axis angular rate parameters and 3-axis acceleration parameter, weight parameter, the inertia force of load (4) are obtained
Parameter and moment of inertia parameter；
Compensation process: according to the weight parameter of load (4), inertia force parameter and moment of inertia parameter, compensate gravity, inertia force and
Moment of inertia is to six-dimensional force/torque to sensor.
7. compensation method according to claim 6, which is characterized in that the step that tests the speed includes:
Create the first coordinate system step: the coordinate system of creation Inertial Measurement Unit (21)；
Create the second coordinate system step: creation sensor force measuring basis coordinate system；
Create third coordinate system step: the geocentric coordinate system of creation load (4).
8. compensation method according to claim 7, which is characterized in that test the speed step further include:
Differentiation step: differential is taken to three axis angular rate parameters, obtains three shaft angle acceleration parameters；
The 3-axis acceleration parameter is the acceleration parameter of three reference axis of the coordinate system along Inertial Measurement Unit (21)；
The three shaft angles acceleration parameter is the angular acceleration ginseng of three reference axis of the coordinate system around Inertial Measurement Unit (21)
Number.
9. compensation method according to claim 6, which is characterized in that calculation step includes:
It obtains gravity, inertia force and moment of inertia step: according to 3-axis acceleration and angular acceleration parameter, obtaining load (4)
The mass center of weight parameter, inertia force parameter and moment of inertia parameter under the coordinate system of Inertial Measurement Unit (21) with load (4)
Expression under coordinate system；
It is simplified to coordinate system step: by what is indicated under Inertial Measurement Unit (21) coordinate system and under the geocentric coordinate system of load (4)
Load gravity, inertia force and moment of inertia transform to be indicated under sensor force measuring basis coordinate system.
10. compensation method according to claim 6, which is characterized in that compensation process includes:
It obtains load suffered actual contact power and torque step: force sensor measuring value being subtracted and measures base in sensor force
Gravity, inertia force and the moment of inertia of the load (4) indicated under conventional coordinates, obtain following information:
The suffered actual contact force information of load；
The suffered actual contact moment information of load.
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| CN201910744558.3A CN110411641A (en) | 2019-08-13 | 2019-08-13 | Six-dimensional force/torque sensor, compensation device and method |
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Cited By (6)
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| CN111329581A (en) * | 2020-01-23 | 2020-06-26 | 诺创智能医疗科技(杭州)有限公司 | Force feedback measuring method of surgical mechanical arm and surgical mechanical arm |
| CN110806302B (en) * | 2019-11-21 | 2021-01-08 | 中国空气动力研究与发展中心低速空气动力研究所 | Pressure compensation device capable of decoupling six-component acting force |
| CN112975971A (en) * | 2021-03-01 | 2021-06-18 | 南京航空航天大学 | Robot inertia force compensation method |
| CN113432761A (en) * | 2021-05-31 | 2021-09-24 | 杭州电子科技大学 | Touch sensor for robot with inertial environment compensation function and manufacturing method thereof |
| WO2021248681A1 (en) * | 2020-06-12 | 2021-12-16 | 南京神源生智能科技有限公司 | Six-dimensional force sensor integrating data acquisition system and inertia force compensation system |
| CN113829350A (en) * | 2021-10-12 | 2021-12-24 | 北京卫星环境工程研究所 | Method for compensating inertial force of spacecraft assembling robot |
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| CN113432761A (en) * | 2021-05-31 | 2021-09-24 | 杭州电子科技大学 | Touch sensor for robot with inertial environment compensation function and manufacturing method thereof |
| CN113829350A (en) * | 2021-10-12 | 2021-12-24 | 北京卫星环境工程研究所 | Method for compensating inertial force of spacecraft assembling robot |
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