CN118046396A - Weight compensation method for mechanical arm detection end based on six-dimensional force sensor - Google Patents
Weight compensation method for mechanical arm detection end based on six-dimensional force sensor Download PDFInfo
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Abstract
The invention discloses a weight compensation method of a mechanical arm detection end based on a six-dimensional force sensor, which comprises the following steps: in response to the starting of a mechanical arm loaded with the six-dimensional force sensor, obtaining stress data of the six-dimensional force sensor corresponding to three dimensions in three-dimensional force、And; According to the stress data、、And a relation of the first weight, solving to obtain a first solution set; a specific value of the first weight and a specific angular pose of the six-dimensional force sensor are determined from the first solution set. If the value is not unique, increasing the solution set by changing the angle posture of the six-dimensional force sensor; and determining a unique common value from the plurality of solutions, and further determining a specific value of the first weight and a specific angular posture of the six-dimensional force sensor for compensation. According to the invention, automatic weight compensation is performed on the detection end of the mechanical arm, so that the measurement of the six-dimensional force sensor is more accurate.
Description
Technical Field
The invention relates to the field of six-dimensional force sensors, in particular to a weight compensation method for a detection end of a mechanical arm based on a six-dimensional force sensor.
Background
The multi-dimensional force sensor refers to a force sensor capable of measuring force and moment components in more than two directions simultaneously, and force and moment can be respectively decomposed into three components in a Cartesian coordinate system, so that the most complete form of multi-dimensional force is a six-dimensional force/moment sensor, namely a sensor capable of measuring three force components and three moment components simultaneously, and the widely used multi-dimensional force sensor is the sensor. The six-dimensional force sensor can be used as a basic element for precise assembly, precise operation, precise control and man-machine interaction control because of being capable of detecting three-dimensional force and three-dimensional moment in a space.
Meanwhile, the six-dimensional force sensor is also used for guaranteeing that the robot completes a contact operation task, such as a space detection technology, space manipulator force control, industrial robots, underwater robot remote control operation and the like, and a large-range high-precision six-dimensional force sensor is required. When the six-dimensional force sensor is applied to the mechanical arm, the six-dimensional force sensor can detect interaction force between the mechanical arm and an external object in real time, and accurate feedback is provided for the control system. The mechanical arm can adjust the size and the direction of acting force according to actual conditions, and precise control is realized. Whether the tasks of grabbing, carrying or assembling are carried out, the mechanical arm needs to apply accurate acting force to external objects, and the six-dimensional force sensor is a key component for achieving the object. However, when the six-dimensional force sensor is applied to the mechanical arm, a central table (for measuring one end) is generally connected to a detection end of the mechanical arm, and a certain weight of the detection end affects the measurement accuracy of the six-dimensional force sensor.
Disclosure of Invention
The research of the applicant shows that: an easy conceivable method is to compensate the influence of the weight of the detection end on the measurement of the six-dimensional force sensor by inputting the data of the weight of the detection end measured in advance. However, the functions of the detection ends of the mechanical arms are diversified, so that the structural weights are different, and the weight of the corresponding detection end is required to be input again each time the six-dimensional force sensor is loaded, so that the mechanical arm is very troublesome. If a technology is available, the six-dimensional force sensor can be automatically compensated for the weight of the detection end without manually inputting the weight of the detection end, and convenience is greatly improved.
In view of the above-mentioned drawbacks of the prior art, the present invention is to provide a weight compensation method for a detection end of a mechanical arm based on a six-dimensional force sensor, which aims to automatically compensate the weight of the detection end of the mechanical arm, so that the measurement of the six-dimensional force sensor is more accurate.
In order to achieve the above purpose, the invention provides a weight compensation method for a detection end of a mechanical arm based on a six-dimensional force sensor, which comprises the following steps:
Step S1, responding to the starting of a mechanical arm loaded with a six-dimensional force sensor, and obtaining stress data of the six-dimensional force sensor corresponding to three dimensions in three-dimensional force 、/>/>; The center pillow block of the six-dimensional force sensor is connected with the detection end of the mechanical arm, the outer shell of the six-dimensional force sensor is connected with the fixed end of the mechanical arm, and stress data/>、/>/>The component force of the first weight of the detection end in three dimensions corresponds to the three-dimensional force;
Step S2, according to the stress data 、/>、/>And the relation of the first weight is solved to obtain the first solution set; wherein the first solution set includes a pending value of the first weight and a pending angular pose of the six-dimensional force sensor;
Step S3, judging whether the to-be-determined value of the first weight in the first solution is unique, if so, determining the to-be-determined value as a specific value of the first weight, and performing step S5; if not, carrying out step S4;
S4, controlling the mechanical arm to rotate the detection end to change the angle posture of the six-dimensional force sensor, and obtaining stress data under the angle posture again 、/>/>; According to the stress data/>、/>、/>And the relation of the first weight is solved to obtain the second solution set; judging whether the same waiting value in the first solution set and the second solution set is unique, if so, determining the waiting value as a specific value of the first weight, and performing step S5; if not, repeating the step S4, and adding a new solution set to determine the specific value of the first weight;
S5, determining the currently corresponding undetermined angle posture of the specific value of the first weight as the specific angle posture of the six-dimensional force sensor according to the specific value of the first weight; and compensating subsequent measurement of the six-dimensional force sensor according to the specific value of the first weight and the specific angle posture of the six-dimensional force sensor.
Optionally, the step S2 includes:
According to Solving a pending value of the first weight in the first solution set and a pending angle posture of the six-dimensional force sensor; wherein said/>For the first weight to be fixed, the/>Is perpendicular to the six-dimensional force sensor/>Included angle of axes, the/>For the perpendicular line at the six-dimensional force sensor/>Shaft sum/>Plane projection line and the six-dimensional force sensor/>Included angle of axes, the/>And said/>And a data representation of the pending angular pose for the six-dimensional force sensor.
Optionally, in step S5, compensating the subsequent measurement of the six-dimensional force sensor according to the specific value of the first weight and the specific angular pose of the six-dimensional force sensor includes:
according to the specific angle posture of the six-dimensional force sensor, posture adjustment is carried out to measure;
And removing the influence of the first weight of the detection end on three dimensions corresponding to the three-dimensional force of the six-dimensional force sensor according to the specific value of the first weight and the adjusted angle posture, and compensating the measurement of the six-dimensional force sensor.
Optionally, after step S5, the method further includes:
According to the specific angle posture of the six-dimensional force sensor, obtaining a numerical value required to be adjusted for the six-dimensional force sensor to reach an ideal measurement posture;
And rotating the detection end according to the adjustment value so as to enable the six-dimensional force sensor to reach the ideal measurement posture.
Optionally, the current predetermined angular pose corresponding to the specific value of the first weight is the angular pose of the six-dimensional force sensor corresponding to the last time the mechanical arm is controlled to rotate.
Optionally, before the step S1:
and before the detection end is installed, zeroing the six-dimensional force sensor.
Optionally, in step S5, compensating the subsequent measurement of the six-dimensional force sensor according to the specific value of the first weight and the specific angular pose of the six-dimensional force sensor includes:
According to Obtaining a three-dimensional force actual value of the six-dimensional force sensor; wherein/>For the six-dimensional force sensor at/>Actual value on axis,/>For the six-dimensional force sensor at/>On-axis measurements,/>For the six-dimensional force sensor at/>Actual value on axis,/>For the six-dimensional force sensor at/>On-axis measurements,/>For the six-dimensional force sensor at/>Actual value on axis,/>For the six-dimensional force sensor at/>On-axis measurements, the/>Is perpendicular to the six-dimensional force sensor/>Included angle of axes, the/>For the perpendicular line at the six-dimensional force sensor/>Shaft sum/>Projection line of plane where axis is located and six-dimensional force sensor/>Included angle of axes due to the/>For the ground vertical line and the six-dimensional force sensor/>Included angle of axes and the six-dimensional force sensor/>Axis,/>Shaft/>Shaft relative position determination, thus using the/>And said/>The specific orientation of the six-dimensional force sensor is represented by a specific value of the specific angular pose of the six-dimensional force sensor, by the/>And said/>And carrying out three-dimensional force decomposition on the specific value of the first weight so as to compensate the measured value of the force in three dimensions.
The invention has the beneficial effects that: 1. in the invention, in response to the starting of the mechanical arm loaded with the six-dimensional force sensor, the stress data of the six-dimensional force sensor corresponding to three dimensions in three-dimensional force are obtained、/>/>; According to the stress data/>、/>、The relation with the first weight can obtain a specific value of the first weight and a specific angle posture of the six-dimensional force sensor through calculation; and compensating subsequent measurement of the six-dimensional force sensor according to the specific value of the first weight and the specific angle posture of the six-dimensional force sensor. According to the invention, the automatic weight compensation of the detection end of the mechanical arm can be realized, so that the measurement of the six-dimensional force sensor is more accurate. Compared with the compensation of the weight data input of the detection end measured in advance, the automatic compensation of the invention greatly increases convenience. 2. The invention combines the specific angle posture of the six-dimensional force sensor to compensate, so that the compensated measurement result is more accurate. 3. According to the invention, the specific angle posture of the six-dimensional force sensor can be obtained, and the specific angle posture of the six-dimensional force sensor can be used as a reference for subsequent measurement and adjustment, so that the rotation adjustment of the six-dimensional force sensor in the measurement process is more accurate.
In conclusion, the automatic weight compensation of the detection end of the mechanical arm is realized, and the six-dimensional force sensor is more accurate in measurement.
Drawings
FIG. 1 is a schematic flow chart of a method for compensating weight of a detection end of a mechanical arm based on a six-dimensional force sensor according to an embodiment of the present invention;
Fig. 2 is an exploded view of the weight of the sensing tip in three-dimensional force coordinates in a six-dimensional force sensor according to an embodiment of the present invention.
Detailed Description
The invention discloses a weight compensation method of a mechanical arm detection end based on a six-dimensional force sensor, and a person skilled in the art can refer to the content of the text and properly improve the technical details. It is expressly noted that all such similar substitutions and modifications will be apparent to those skilled in the art, and are deemed to be included in the present invention. While the methods and applications of this invention have been described in terms of preferred embodiments, it will be apparent to those skilled in the relevant art that variations and modifications can be made in the methods and applications described herein, and in the practice and application of the techniques of this invention, without departing from the spirit or scope of the invention.
The research of the applicant shows that: an easy conceivable method is to compensate the influence of the weight of the detection end on the measurement of the six-dimensional force sensor by inputting the data of the weight of the detection end measured in advance. However, the functions of the detection ends of the mechanical arms are diversified, so that the structural weights are different, and the weight of the corresponding detection end is required to be input again each time the six-dimensional force sensor is loaded, so that the mechanical arm is very troublesome. If a technology is available, the six-dimensional force sensor can be automatically compensated for the weight of the detection end without manually inputting the weight of the detection end, and convenience is greatly improved.
Therefore, an embodiment of the present invention provides a method for compensating weight of a detection end of a mechanical arm based on a six-dimensional force sensor, as shown in fig. 1, the method includes:
step S1, responding to the starting of a mechanical arm loaded with a six-dimensional force sensor, and obtaining stress data of the six-dimensional force sensor corresponding to three dimensions in three-dimensional force 、/>/>。
Wherein, the center pillow block of the six-dimensional force sensor is connected with the detection end of the mechanical arm, the outer shell of the six-dimensional force sensor is connected with the fixed end of the mechanical arm, and the stress data are obtained、/>/>The component force of the first weight of the detection end in three dimensions corresponds to the three-dimensional force.
It should be noted that, the six dimensions measured by the six-dimensional force sensor are three force dimensions and three moment dimensions, respectively, each dimension corresponds to a wheatstone bridge for outputting the dimension measurement data and the stress data、/>AndThe data measured corresponds to three force dimensions. The center pillow block of the six-dimensional force sensor is generally used for connecting with a detection end, and the elastic beam is deformed through the center pillow block so as to obtain corresponding force measurement data. The outer shell of the six-dimensional force sensor is generally used for connecting the fixed end, and the outer shell is generally kept motionless so as to ensure the accuracy and stability of the measurement result.
It should be noted that when the mechanical arm is started, the detection end of the mechanical arm does not contact any object.
In one embodiment, it is ensured that the detection end is not in contact with other objects prior to step S1.
In one embodiment, in step S1, if the mechanical arm is started, the object contacts the detection end, the detection end is rotated so that the detection end does not contact other objects, and then stress data is collected.
In one embodiment, prior to step S1:
before the detection end is installed, the six-dimensional force sensor is zeroed.
It should be noted that some six-dimensional force sensors are affected by external factors and output data even when empty, and at this time, they need to be zeroed to avoid the influence on subsequent measurements.
Step S2, according to the stress data、/>、/>And solving the relation of the first weight to obtain a first solution set.
Wherein the first solution set includes a pending value of the first weight and a pending angular pose of the six-dimensional force sensor.
In one embodiment, step S2 includes:
According to Solving a to-be-determined value of the first weight in the first solution set and a to-be-determined angle posture of the six-dimensional force sensor; wherein/>To be fixed for the first weight,/>Is perpendicular to six-dimensional force sensor/>Included angle of axes,/>For perpendicular in six-dimensional force sensor/>Shaft sum/>Projection line of plane where axis is located and six-dimensional force sensor/>Included angle of axes,/>AndA data representation of the pending angular pose for a six-dimensional force sensor.
As shown in FIG. 2, in FIG. 2、/>、/>Respectively express/>Component force in three dimensions.Is perpendicular to six-dimensional force sensor/>Included angle of axes,/>For perpendicular in six-dimensional force sensor/>And/>Plane projection line and six-dimensional force sensor/>Is included in the bearing.
According to the embodiment of the invention, the relation between the first weight of the detection end and the three-dimensional stress data and angles is obtained through the three-dimensional force decomposition of the corresponding weight of the detection end. Through the relationships, the undetermined value of the first weight and the undetermined angle posture of the six-dimensional force sensor can be reversely solved.
The undetermined value of the first weight in the first solution set and the undetermined angle posture of the six-dimensional force sensor have a one-to-one correspondence relationship, and the undetermined angle posture of the six-dimensional force sensor corresponds to the undetermined value of the first weight.
Step S3, judging whether a to-be-determined value of the first weight in the first solution set is unique, if so, determining the to-be-determined value as a specific value of the first weight, and performing step S5; if not, go to step S4.
It should be noted that, the solution to obtain the undetermined value of the first weight and the undetermined angle posture of the six-dimensional force sensor may correspond to a plurality of solutions to satisfy the stress data、/>、/>And a first weight. When there is only one waiting value of the first weight, it can be determined as a specific value, and when there are a plurality of the waiting values, further judgment is needed.
S4, controlling the mechanical arm to rotate the detection end to change the angle posture of the six-dimensional force sensor, and obtaining stress data under the angle posture again、/>/>; According to the stress data/>、/>、/>And the relation of the first weight is solved to obtain a second solution set; judging whether the same to-be-determined value in the first solution set and the second solution set is unique, if so, determining the to-be-determined value as a specific value of the first weight, and performing step S5; if not, repeating the step S4, and adding a new solution set to determine the specific value of the first weight.
It should be noted that, because the weight of the detection end is unchanged, the solution set obtained by corresponding solution of the six-dimensional force sensor in any angular pose necessarily contains a specific value of the first weight of the detection end. Therefore, the invention effectively utilizes the point, when a single solution set cannot accurately obtain the specific value of the first weight, the solution set is added to obtain the co-pending value of the first weight in each solution set, and the specific value of the first weight can be determined until the co-pending value is unique. The invention can accurately obtain the weight of the detection end so as to ensure that the subsequent compensation is more accurate.
S5, determining the currently corresponding undetermined angle posture of the specific value of the first weight as the specific angle posture of the six-dimensional force sensor according to the specific value of the first weight; and compensating subsequent measurement of the six-dimensional force sensor according to the specific value of the first weight and the specific angle posture of the six-dimensional force sensor.
In a specific embodiment, compensating the subsequent measurement of the six-dimensional force sensor according to the specific value of the first weight and the specific angular pose of the six-dimensional force sensor in step S5 includes:
According to the specific angle posture of the six-dimensional force sensor, posture adjustment is carried out to measure;
And removing the influence of the first weight of the detection end on three dimensions corresponding to the three-dimensional force of the six-dimensional force sensor according to the specific value of the first weight and the adjusted angle posture, and compensating the measurement of the six-dimensional force sensor.
In the use of the mechanical arm, the mechanical arm needs to be adjusted to contact with a measured object at a certain angle, so that accurate adjustment of the angle posture is very important.
It should be noted that, the gesture of the mechanical arm just started is not necessarily the same as that of the last time or is completely the same as that of the preset gesture, and deviation may occur due to influence of external factors. Deviations can occur if the robotic arm wants to adjust the pose based on the last pose or a preset pose. The invention can solve and obtain the specific angle posture of the six-dimensional force sensor, and adjust the specific angle posture by taking the specific angle posture as a reference, so that the adjustment accuracy is higher.
In a specific embodiment, after step S5, the method further includes:
according to the specific angle posture of the six-dimensional force sensor, obtaining a numerical value required to be adjusted for the six-dimensional force sensor to reach an ideal measurement posture;
and rotating the detection end according to the adjustment value so as to enable the six-dimensional force sensor to achieve an ideal measurement posture.
It should be noted that, the ideal measurement gesture is the corresponding gesture required when the detection end of the mechanical arm performs the current detection. The mechanical arm detection end detects different objects, so that the gesture detected each time can also be different, and therefore, the angle gesture needs to be adjusted to an ideal measurement gesture before each measurement so as to ensure the measurement to be smooth.
In a specific embodiment, the current pending angular pose corresponding to the specific value of the first weight is the angular pose of the six-dimensional force sensor corresponding to the rotation detection end of the last control mechanical arm.
In a specific embodiment, compensating the subsequent measurement of the six-dimensional force sensor according to the specific value of the first weight and the specific angular pose of the six-dimensional force sensor in step S5 includes:
According to Obtaining a three-dimensional force actual value of the six-dimensional force sensor; wherein/>For six-dimensional force sensor at/>Actual value on axis,/>For six-dimensional force sensor at/>On-axis measurements,/>For six-dimensional force sensor at/>Actual value on axis,/>For six-dimensional force sensor at/>On-axis measurements,/>For six-dimensional force sensor at/>Actual value on axis,/>For six-dimensional force sensor at/>On-axis measurements,/>Force sensor for perpendicular line and six dimensionsIncluded angle of axes,/>For perpendicular in six-dimensional force sensor/>Shaft sum/>Projection line of plane where axis is located and six-dimensional force sensor/>Included angle of axes, due to/>For ground vertical (plumb) and six-dimensional force sensor/>Included angle of axes and six-dimensional force sensor/>Axis,/>Shaft/>Shaft relative position determination, thus use/>And/>The specific orientation of the six-dimensional force sensor is represented by a specific value of the six-dimensional force sensor, which is a representation of the specific angular pose of the six-dimensional force sensor, by/>And/>The three-dimensional decomposition of the force is performed on the specific value of the first weight and thus the measurement of the force in three dimensions is compensated.
It should be noted that, the above formula removes the influence of the weight of the detection end on the actual measurement value, so that the measurement result is more accurate.
In the embodiment of the invention, in response to the starting of the mechanical arm loaded with the six-dimensional force sensor, the stress data of the six-dimensional force sensor corresponding to three dimensions in three-dimensional force are obtained、/>/>; According to the stress data/>、/>、/>The relation with the first weight can obtain a specific value of the first weight and a specific angle posture of the six-dimensional force sensor through calculation; and compensating subsequent measurement of the six-dimensional force sensor according to the specific value of the first weight and the specific angle posture of the six-dimensional force sensor. According to the embodiment of the invention, the automatic weight compensation of the detection end of the mechanical arm can be realized, so that the measurement of the six-dimensional force sensor is more accurate. Compared with the compensation of the weight data input of the detection end measured in advance, the automatic compensation of the embodiment of the invention greatly increases convenience.
The embodiment of the invention combines the specific angle posture of the six-dimensional force sensor to compensate, so that the compensated measurement result is more accurate.
According to the embodiment of the invention, the specific angle posture of the six-dimensional force sensor can be obtained, and can be used as a reference for subsequent measurement and adjustment, so that the six-dimensional force sensor can be rotated and adjusted more accurately in the measurement process.
In summary, the embodiment of the invention realizes automatic weight compensation on the detection end of the mechanical arm, so that the measurement of the six-dimensional force sensor is more accurate.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing is merely illustrative of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (7)
1. The method for compensating the weight of the detection end of the mechanical arm based on the six-dimensional force sensor is characterized by comprising the following steps:
Step S1, responding to the starting of a mechanical arm loaded with a six-dimensional force sensor, and obtaining stress data of the six-dimensional force sensor corresponding to three dimensions in three-dimensional force 、/>/>; The center pillow block of the six-dimensional force sensor is connected with the detection end of the mechanical arm, the outer shell of the six-dimensional force sensor is connected with the fixed end of the mechanical arm, and stress data/>、/>/>The component force of the first weight of the detection end in three dimensions corresponds to the three-dimensional force;
Step S2, according to the stress data 、/>、/>And the relation of the first weight is solved to obtain the first solution set; wherein the first solution set includes a pending value of the first weight and a pending angular pose of the six-dimensional force sensor;
Step S3, judging whether the to-be-determined value of the first weight in the first solution is unique, if so, determining the to-be-determined value as a specific value of the first weight, and performing step S5; if not, carrying out step S4;
S4, controlling the mechanical arm to rotate the detection end to change the angle posture of the six-dimensional force sensor, and obtaining stress data under the angle posture again 、/>/>; According to the stress data/>、/>、/>And the relation of the first weight is solved to obtain the second solution set; judging whether the same waiting value in the first solution set and the second solution set is unique, if so, determining the waiting value as a specific value of the first weight, and performing step S5; if not, repeating the step S4, and adding a new solution set to determine the specific value of the first weight;
S5, determining the currently corresponding undetermined angle posture of the specific value of the first weight as the specific angle posture of the six-dimensional force sensor according to the specific value of the first weight; and compensating subsequent measurement of the six-dimensional force sensor according to the specific value of the first weight and the specific angle posture of the six-dimensional force sensor.
2. The method for compensating weight of a detection end of a mechanical arm based on a six-dimensional force sensor according to claim 1, wherein the step S2 comprises:
According to Solving a pending value of the first weight in the first solution set and a pending angle posture of the six-dimensional force sensor; wherein said/>For the first weight to be fixed, the/>Is perpendicular to the six-dimensional force sensor/>Included angle of axes, the/>For the perpendicular line at the six-dimensional force sensor/>Shaft sum/>Projection line of plane where axis is located and six-dimensional force sensor/>Included angle of axes, the/>And said/>And a data representation of the pending angular pose for the six-dimensional force sensor.
3. The method for compensating weight of a detection end of a mechanical arm based on a six-dimensional force sensor according to claim 1, wherein compensating subsequent measurement of the six-dimensional force sensor according to the specific value of the first weight and the specific angular posture of the six-dimensional force sensor in step S5 comprises:
according to the specific angle posture of the six-dimensional force sensor, posture adjustment is carried out to measure;
And removing the influence of the first weight of the detection end on three dimensions corresponding to the three-dimensional force of the six-dimensional force sensor according to the specific value of the first weight and the adjusted angle posture, and compensating the measurement of the six-dimensional force sensor.
4. The six-dimensional force sensor-based mechanical arm detection end weight compensation method according to claim 1, wherein after step S5, the method further comprises:
According to the specific angle posture of the six-dimensional force sensor, obtaining a numerical value required to be adjusted for the six-dimensional force sensor to reach an ideal measurement posture;
And rotating the detection end according to the adjustment value so as to enable the six-dimensional force sensor to reach the ideal measurement posture.
5. The method for compensating weight of a detection end of a mechanical arm based on a six-dimensional force sensor according to claim 1, wherein the currently-corresponding undetermined angle posture of the specific value of the first weight is the angle posture of the six-dimensional force sensor corresponding to the detection end which is controlled to rotate the mechanical arm for the last time.
6. The method for compensating weight of a detection end of a mechanical arm based on a six-dimensional force sensor according to claim 1, wherein, before the step S1:
and before the detection end is installed, zeroing the six-dimensional force sensor.
7. The method for compensating weight of a detection end of a mechanical arm based on a six-dimensional force sensor according to claim 1, wherein compensating subsequent measurement of the six-dimensional force sensor according to the specific value of the first weight and the specific angular posture of the six-dimensional force sensor in step S5 comprises:
According to Obtaining a three-dimensional force actual value of the six-dimensional force sensor; wherein,For the six-dimensional force sensor at/>Actual value on axis,/>For the six-dimensional force sensor at/>The measured value on the axis of the shaft,For the six-dimensional force sensor at/>Actual value on axis,/>For the six-dimensional force sensor at/>The measured value on the axis of the shaft,For the six-dimensional force sensor at/>Actual value on axis,/>For the six-dimensional force sensor at/>On-axis measurements, the/>Is perpendicular to the six-dimensional force sensor/>Included angle of axes, the/>For the perpendicular line at the six-dimensional force sensor/>Shaft sum/>Projection line of plane where axis is located and six-dimensional force sensor/>Included angle of axes due to the/>For the ground vertical line and the six-dimensional force sensor/>Included angle of axes and the six-dimensional force sensor/>Axis,/>Shaft/>Shaft relative position determination, thus using the/>And said/>The specific orientation of the six-dimensional force sensor is represented by a specific value of the specific angular pose of the six-dimensional force sensor, by the/>And said/>And carrying out three-dimensional force decomposition on the specific value of the first weight so as to compensate the measured value of the force in three dimensions.
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