DE19960482A1 - Calibration unit for multicomponent force and torque sensor, e.g. for robotic system, has sensor that has already been calibrated connected to sensor to be calibrated and compares sensor data - Google Patents
Calibration unit for multicomponent force and torque sensor, e.g. for robotic system, has sensor that has already been calibrated connected to sensor to be calibrated and compares sensor dataInfo
- Publication number
- DE19960482A1 DE19960482A1 DE1999160482 DE19960482A DE19960482A1 DE 19960482 A1 DE19960482 A1 DE 19960482A1 DE 1999160482 DE1999160482 DE 1999160482 DE 19960482 A DE19960482 A DE 19960482A DE 19960482 A1 DE19960482 A1 DE 19960482A1
- Authority
- DE
- Germany
- Prior art keywords
- sensor
- calibrated
- already
- compares
- robotic system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
Description
Die Kalibrierung von Mehrkomponentenaufnehmern (MKA) zur Erfassung von Kräften und Momenten erfolgt üblicherweise durch die systematische Belastung mit bekannten Kräften und Momenten, die beispielsweise über Gewichte und Umlenkrollen erzeugt werden. Das Verfahren benötigt eine exakte Ausrichtung der Kraftrichtung und Hebelarme und ist entsprechend zeitaufwendig. Eine entscheidende Verbesserung dieses Verfahrens wurde erreicht durch die Entwicklung einer Kalibriereinrichtung für interne Windkanalwaagen (Pat. 3.187 EU, Veröffentlichungsnummer EP 0 340 316 A1), die mittels hydraulischer Aktoren Kräfte und Momente erzeugt und diese in eine mechanisch in Reihe geschaltete Kombination aus Kalibrieraufnehmer und Meßaufnehmer einleitet. Hauptvorteil dieser Erfindung ist der Wegfall der exakten Ausrichtung der Kräfte und Momente. Die gesuchte Meßmatrax des Prüflings wird in dieser Einrichtung durch Vergleich zwischen der Kalibriermatrix und den Auslesewerten des Meßaufnehmers gewonnen. Die Erfahrung hat gezeigt, daß der kostenintensivere Anteil in dem Krafterzeugungssystem besteht.Multi-component transducers (MKA) are calibrated to record forces and moments usually due to the systematic load with known forces and moments, for example, over Weights and pulleys are generated. The process requires an exact alignment of the direction of force and lever arms and is correspondingly time-consuming. A major improvement to this process has been made achieved through the development of a calibration device for internal wind tunnel scales (Pat. 3.187 EU, Publication number EP 0 340 316 A1), which generates forces and moments by means of hydraulic actuators and this into a mechanically series-connected combination of calibration sensor and measuring sensor initiates. The main advantage of this invention is the elimination of the exact alignment of the forces and moments. The The desired measurement matrix of the test object is compared in this facility by comparison between the calibration matrix and the readings of the sensor. Experience has shown that the more expensive portion consists in the power generation system.
Der hier beschriebenen Erfindung liegt der Gedanke zugrunde, daß
The invention described here is based on the idea that
- 1. in vielen Fällen nicht die extremen Genauigkeitsforderungen bestehen, die zur Entwicklung der oben beschriebenen (Pat. 3.187 EU) Einrichtung geführt haben.1. In many cases, the extreme accuracy requirements required to develop the above do not exist described (Pat. 3.187 EU) institution.
- 2. und in diesen Fällen meist Antriebe zur Kraft- und Momentenerzeugung systembedingt vorgesehen sind.2. and in these cases mostly drives for power and torque generation are provided depending on the system.
Wenn beide Voraussetzungen zutreffen, kann auf den kostenintensiven Kraft- und Momentenerzeugerteil verzichtet werden. Dies ist insbesondere bei Robotersystemen mit integriertem Armwurzelsensor der Fall. Die hier erforderliche Genauigkeit liegt hier mit ca. 1% um zwei Größenordnungen unter der bei Windkanalwaagen geforderten Genauigkeit (0,01%). Dieser Umstand ermöglicht den Verzicht auf ein Krafterzeugersystem mit hoher zeitlicher Konstanthaltung einzelner Meßpunkte, so daß die diesbezüglichen Eigenschaften des systembedingten Aktorensystems zur Kalibrierung ausreichen. Dies führt des weiterem zu dem Vorteil, daß die Meßpunkte kontinuierlich ermittelt werden können und dadurch die Kalibrierzeit ganz wesentlich verkürzt wird (von 100% auf ca. 5%). Der letzte Gesichtspunkt ist besonders bei Industrierobotern von hoher Bedeutung. Der Grund hierfür liegt in den unterschiedlichen geometrischen und mechanischen Eigenschaften der Endeffektoren, die z. B. bei Fertigungsaufgaben und Meßaufgaben sehr unterschiedliche Federsteifigkeiten besitzen. Dies und der Umstand, daß der Bezugspunkt meist ebenfalls wechselt, erfordert nach einem Endeffektorwechsel eine jeweilige Neukalibrierung. Dies wird durch die beschriebene Erfindung in höchst einfacher und schneller Weise ermöglicht, wenn ein Kalibriersensor der beschriebenen Art zur Verfügung steht. Der Sensor enthält eine Mehrkomponentenmeßeinrichtung, die auf herkömmliche Art kalibriert ist und die gespeicherten Eigenschaften mit hinreichender Reproduzierbarkeit beibehält. Die bei der Kalibrierung des Meßaufnehmers erhaltenen Ausgabewerte werden mit den kalibrierten Daten der automatisierten Kalibriereinrichtung zeitsynchron ausgewertet und zu der gesuchten Meßmatrix verarbeitet.If both requirements are met, the cost-intensive power and torque generator part can be used to be dispensed with. This is particularly the case with robot systems with an integrated arm root sensor. The The accuracy required here is around 1% two orders of magnitude lower than that of wind tunnel balances required accuracy (0.01%). This fact makes it possible to do without a power generator system high constant time of individual measuring points, so that the relevant properties of the system-related actuator system are sufficient for calibration. This further leads to the advantage that the Measuring points can be determined continuously, thereby shortening the calibration time considerably (from 100% to approx. 5%). The last point of view is of particular importance for industrial robots. The The reason for this lies in the different geometric and mechanical properties of the end effectors, the z. B. in manufacturing and measuring tasks have very different spring stiffness. This and the fact that the reference point usually also changes requires one after an end effector change respective recalibration. This is achieved in a very simple and rapid manner by the described invention enabled if a calibration sensor of the type described is available. The sensor contains one Multi-component measuring device, which is calibrated in a conventional manner and the stored properties maintains with sufficient reproducibility. Those obtained during calibration of the sensor Output values are time-synchronized with the calibrated data of the automated calibration device evaluated and processed to the desired measurement matrix.
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE1999160482 DE19960482A1 (en) | 1999-12-15 | 1999-12-15 | Calibration unit for multicomponent force and torque sensor, e.g. for robotic system, has sensor that has already been calibrated connected to sensor to be calibrated and compares sensor data |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE1999160482 DE19960482A1 (en) | 1999-12-15 | 1999-12-15 | Calibration unit for multicomponent force and torque sensor, e.g. for robotic system, has sensor that has already been calibrated connected to sensor to be calibrated and compares sensor data |
Publications (1)
Publication Number | Publication Date |
---|---|
DE19960482A1 true DE19960482A1 (en) | 2001-06-21 |
Family
ID=7932752
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE1999160482 Withdrawn DE19960482A1 (en) | 1999-12-15 | 1999-12-15 | Calibration unit for multicomponent force and torque sensor, e.g. for robotic system, has sensor that has already been calibrated connected to sensor to be calibrated and compares sensor data |
Country Status (1)
Country | Link |
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DE (1) | DE19960482A1 (en) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7383717B2 (en) * | 2004-09-17 | 2008-06-10 | Honda Motor Co., Ltd. | Force sensor abnormality detection system for legged mobile robot |
CN1987391B (en) * | 2005-12-20 | 2010-08-25 | 中国船舶重工集团公司第七O四研究所 | Negative valence jump dynamic torsion corrector |
CN101832837A (en) * | 2010-05-11 | 2010-09-15 | 东南大学 | Decoupling method for multidimensional force sensor based on coupling error modeling |
WO2012002137A1 (en) * | 2010-06-30 | 2012-01-05 | Canon Kabushiki Kaisha | Force sensor correcting method |
DE102011106302B3 (en) * | 2011-07-01 | 2012-09-20 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for determining measurement error of force moment sensor utilized in robotics, involves comparing determined sensor values with pseudo sensor values received by inverse transformation for determining measurement error of sensor |
JP2014054692A (en) * | 2012-09-12 | 2014-03-27 | Seiko Epson Corp | State discrimination method, robot, control device, and program |
DE102015202076A1 (en) * | 2015-02-05 | 2016-08-11 | Kuka Roboter Gmbh | Method for adjusting a torque sensor of a robot arm and robot with a robot arm and a control device |
WO2019068686A1 (en) * | 2017-10-05 | 2019-04-11 | Kuka Deutschland Gmbh | Calibration of a joint load sensor of a robot |
US10449676B2 (en) | 2015-03-23 | 2019-10-22 | National Research Council Of Canada | Multi-jointed robot deviation under load determination |
WO2021190144A1 (en) * | 2020-03-25 | 2021-09-30 | 东南大学 | High-precision miniaturized on-orbit calibration device and method for six-dimensional force sensor of mechanical arm of space station |
DE102022130316B3 (en) | 2022-11-16 | 2024-01-11 | Schaeffler Technologies AG & Co. KG | Method for calibrating a torque sensor in a robot joint |
-
1999
- 1999-12-15 DE DE1999160482 patent/DE19960482A1/en not_active Withdrawn
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7383717B2 (en) * | 2004-09-17 | 2008-06-10 | Honda Motor Co., Ltd. | Force sensor abnormality detection system for legged mobile robot |
CN1987391B (en) * | 2005-12-20 | 2010-08-25 | 中国船舶重工集团公司第七O四研究所 | Negative valence jump dynamic torsion corrector |
CN101832837A (en) * | 2010-05-11 | 2010-09-15 | 东南大学 | Decoupling method for multidimensional force sensor based on coupling error modeling |
CN101832837B (en) * | 2010-05-11 | 2012-01-04 | 东南大学 | Decoupling method for multidimensional force sensor based on coupling error modeling |
US9969088B2 (en) | 2010-06-30 | 2018-05-15 | Canon Kabushiki Kaisha | Force sensor correcting method |
WO2012002137A1 (en) * | 2010-06-30 | 2012-01-05 | Canon Kabushiki Kaisha | Force sensor correcting method |
JP2012013537A (en) * | 2010-06-30 | 2012-01-19 | Canon Inc | Method of calibrating force sensor |
US9563601B2 (en) | 2010-06-30 | 2017-02-07 | Canon Kabushiki Kaisha | Force sensor correcting method |
DE102011106302B3 (en) * | 2011-07-01 | 2012-09-20 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for determining measurement error of force moment sensor utilized in robotics, involves comparing determined sensor values with pseudo sensor values received by inverse transformation for determining measurement error of sensor |
JP2014054692A (en) * | 2012-09-12 | 2014-03-27 | Seiko Epson Corp | State discrimination method, robot, control device, and program |
DE102015202076A1 (en) * | 2015-02-05 | 2016-08-11 | Kuka Roboter Gmbh | Method for adjusting a torque sensor of a robot arm and robot with a robot arm and a control device |
US10449676B2 (en) | 2015-03-23 | 2019-10-22 | National Research Council Of Canada | Multi-jointed robot deviation under load determination |
WO2019068686A1 (en) * | 2017-10-05 | 2019-04-11 | Kuka Deutschland Gmbh | Calibration of a joint load sensor of a robot |
WO2021190144A1 (en) * | 2020-03-25 | 2021-09-30 | 东南大学 | High-precision miniaturized on-orbit calibration device and method for six-dimensional force sensor of mechanical arm of space station |
US11867578B2 (en) | 2020-03-25 | 2024-01-09 | Southeast University | High-precision and miniaturized on-orbit calibration device for six-dimensional force sensor of space station manipulator and calibration method thereof |
DE102022130316B3 (en) | 2022-11-16 | 2024-01-11 | Schaeffler Technologies AG & Co. KG | Method for calibrating a torque sensor in a robot joint |
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