JP2011224771A - 器用なロボットの多軸ロードセルを較正する方法および装置 - Google Patents

器用なロボットの多軸ロードセルを較正する方法および装置 Download PDF

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Publication number
JP2011224771A
JP2011224771A JP2011037173A JP2011037173A JP2011224771A JP 2011224771 A JP2011224771 A JP 2011224771A JP 2011037173 A JP2011037173 A JP 2011037173A JP 2011037173 A JP2011037173 A JP 2011037173A JP 2011224771 A JP2011224771 A JP 2011224771A
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JP
Japan
Prior art keywords
robot
host machine
load cell
load cells
value
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.)
Pending
Application number
JP2011037173A
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English (en)
Japanese (ja)
Inventor
Charles W Ii Wampler
チャールズ・ダブリュー・ワンプラー，ザ・セカンド
Jr Robert J Platt
ロバート・ジェイ・プラット，ジュニア
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GM Global Technology Operations LLC
National Aeronautics and Space Administration NASA
Original Assignee
GM Global Technology Operations LLC
National Aeronautics and Space Administration NASA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by GM Global Technology Operations LLC, National Aeronautics and Space Administration NASA filed Critical GM Global Technology Operations LLC
Publication of JP2011224771A publication Critical patent/JP2011224771A/ja
Pending legal-status Critical Current

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    • 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
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39024—Calibration of manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40618—Measure gripping force offline, calibrate gripper for gripping force

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
JP2011037173A 2010-04-15 2011-02-23 器用なロボットの多軸ロードセルを較正する方法および装置 Pending JP2011224771A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US12/760,954 2010-04-15
US12/760,954 US8265792B2 (en) 2010-04-15 2010-04-15 Method and apparatus for calibrating multi-axis load cells in a dexterous robot

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2013188167A Division JP5819898B2 (ja) 2010-04-15 2013-09-11 器用なロボットの多軸ロードセルを較正するシステムおよび方法

Publications (1)

Publication Number Publication Date
JP2011224771A true JP2011224771A (ja) 2011-11-10

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JP2011037173A Pending JP2011224771A (ja) 2010-04-15 2011-02-23 器用なロボットの多軸ロードセルを較正する方法および装置
JP2013188167A Expired - Fee Related JP5819898B2 (ja) 2010-04-15 2013-09-11 器用なロボットの多軸ロードセルを較正するシステムおよび方法

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Country Link
US (1) US8265792B2 (https=)
JP (2) JP2011224771A (https=)
DE (1) DE102011016113B8 (https=)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160243709A1 (en) * 2010-12-13 2016-08-25 Brian L. Ganz Robotic gripper
US8943902B2 (en) * 2012-10-05 2015-02-03 Harris Corporation Force and torque sensors
US9346165B1 (en) * 2014-06-02 2016-05-24 Google Inc. Robotic devices with multi-degree of freedom (DOF) load cell for shear beam sensing
US9844872B1 (en) 2015-07-13 2017-12-19 X Development Llc Determining sensor parameters and model parameters of a robot
DE102017108325A1 (de) * 2017-04-19 2018-10-25 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Linear-, Greif-, Spann-, Dreh- oder Schwenkvorrichtung, Verfahren zum Betreiben einer derartigen Vorrichtung, und Einrichtung zur Auswertung einer derartigen Vorrichtung
DE102017009278A1 (de) * 2017-10-05 2019-04-11 Kuka Deutschland Gmbh Kalibrierung eines Gelenklastsensors eines Roboters
CN111351615B (zh) * 2020-03-25 2021-07-20 东南大学 空间站机械臂六维力传感器高精度小型化在轨标定装置及标定方法

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JPS62237335A (ja) * 1986-04-09 1987-10-17 Hitachi Ltd 力センサの変換行列をキヤリブレ−シヨンする方法及び装置
JPH0911168A (ja) * 1995-06-30 1997-01-14 Toshiba Corp マニピュレータ装置
JPH11237296A (ja) * 1998-02-23 1999-08-31 Fanuc Ltd ロボットに装着された力センサのキャリブレーション方法及びロボット
JP2003053690A (ja) * 2001-08-13 2003-02-26 Ricoh Co Ltd ハンドフィンガー
JP2007185763A (ja) * 2005-12-12 2007-07-26 Honda Motor Co Ltd 脚式移動ロボットの制御装置
JP2010064155A (ja) * 2008-09-08 2010-03-25 Toyota Motor Corp 把持装置

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US4982611A (en) * 1988-05-24 1991-01-08 Wisconsin Alumni Research Foundation Multiple-degree-of-freedom sensor tip for a robotic gripper
US5280981A (en) * 1991-02-01 1994-01-25 Odetics, Inc. End effector with load-sensitive digit actuation mechanisms
US5143505A (en) * 1991-02-26 1992-09-01 Rutgers University Actuator system for providing force feedback to a dextrous master glove
JPH04365583A (ja) * 1991-06-10 1992-12-17 Fujitsu Ltd ロボットハンド及びその制御方法
JPH05111897A (ja) * 1991-10-21 1993-05-07 Fanuc Ltd 複数台のロボツトの相対位置関係取得方式
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Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62237335A (ja) * 1986-04-09 1987-10-17 Hitachi Ltd 力センサの変換行列をキヤリブレ−シヨンする方法及び装置
JPH0911168A (ja) * 1995-06-30 1997-01-14 Toshiba Corp マニピュレータ装置
JPH11237296A (ja) * 1998-02-23 1999-08-31 Fanuc Ltd ロボットに装着された力センサのキャリブレーション方法及びロボット
JP2003053690A (ja) * 2001-08-13 2003-02-26 Ricoh Co Ltd ハンドフィンガー
JP2007185763A (ja) * 2005-12-12 2007-07-26 Honda Motor Co Ltd 脚式移動ロボットの制御装置
JP2010064155A (ja) * 2008-09-08 2010-03-25 Toyota Motor Corp 把持装置

Also Published As

Publication number Publication date
US8265792B2 (en) 2012-09-11
DE102011016113B4 (de) 2021-03-18
DE102011016113B8 (de) 2021-05-27
US20110257784A1 (en) 2011-10-20
JP5819898B2 (ja) 2015-11-24
JP2014012337A (ja) 2014-01-23
DE102011016113A1 (de) 2011-12-15

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