JPS633235A - Zero-point calibrating method for three-directional force detector - Google Patents
Zero-point calibrating method for three-directional force detectorInfo
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- JPS633235A JPS633235A JP14672686A JP14672686A JPS633235A JP S633235 A JPS633235 A JP S633235A JP 14672686 A JP14672686 A JP 14672686A JP 14672686 A JP14672686 A JP 14672686A JP S633235 A JPS633235 A JP S633235A
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- 238000000034 method Methods 0.000 title claims description 8
- 210000000707 wrist Anatomy 0.000 abstract description 13
- 238000010586 diagram Methods 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、例えば産業用ロボットの作業端に装着して使
う３方向力検出器の零点較正方法に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a zero point calibration method for a three-directional force detector that is used, for example, by being attached to the working end of an industrial robot.
産業用ロボット手首部に３方向力検出器を介してツール
を装着し、ロボットが作業を行なう場合の構成を表わす
要部の側面図を第２図に示す。FIG. 2 is a side view of the main parts showing a configuration in which a tool is attached to the wrist of an industrial robot via a three-directional force detector and the robot performs work.
ロボットアーム４の先端のロボット手首部１に３方向力
検出器２を取り付けて、その先にツール３を固定してお
り、ツール３は３次元の空間において自在に可動できる
ようにしである。A three-directional force detector 2 is attached to the robot wrist 1 at the tip of the robot arm 4, and a tool 3 is fixed to the tip thereof, so that the tool 3 can freely move in three-dimensional space.
作業中にツール３が受ける外力を３方向力検出器２で検
出する場合に問題となるのは、ツール３自身のｍｍによ
る影響である。When the three-directional force detector 2 detects the external force that the tool 3 receives during work, a problem arises due to the influence of the tool 3 itself in mm.
従来例として、この影響を取り除くため、作業開始前の
ある姿勢における各軸（Ｘ、Ｙ、Ｚ軸）検出値Ｘ、Ｙ、
Ｚ１を、そのときの較正値Ｘｏ、Ｙｏ、Ｚｏすなわち
Ｘｏ−Ｘｌ
Ｙｏ＝Ｙ１
２ ＝２゜
として用い、外力Ｆが印加されたときの各軸検出値がＸ
・、Ｙ、、Ｚ、であれば
としている。As a conventional example, in order to remove this influence, the detected values of each axis (X, Y, Z axis) in a certain posture before starting work are
Using Z1 as the calibration values Xo, Yo, and Zo at that time, that is, Xo-Xl Yo=Y1 2 = 2°, each axis detected value when external force F is applied is
,Y,,Z,.
また、本出願人が先に開発し提案した特ＷＡ昭６０−２
７４７６４号の先行例がある。In addition, the special WA 1986-2 developed and proposed by the applicant
There is a precedent in No. 74764.
この先行例は、第６図の側面図と各軸の検出値の説明図
〔（ａ ）は（ａ２）に（ｂｌ〉は（ｂ２）に対応する
）に表わすように、作業前に予め、
作業具重量Ｗを計測し、゛
３方向力検出器のＸ軸を鉛直方向にしツール重量はＹ軸
、Ｚ軸にかからないようにしてそのときのＹ、Ｚ軸の出
力Ｙ−Ｙ 、Ｚ＝Ｚｏをとり、自動機械の先端をＺ軸
回りに９０°回転しツール１４ｆｆｉは３方向力検出冴
のＸＩＴＯにかからないようにしてそのときのＸ軸の出
力Ｘ＝ＸＱをとり、これらＸ。、Ｙｏ、Ｚｏを基準値と
し、任意の作業姿勢にて外力が加えられているときの３
方向力検出器のＸ、Ｙ、Ｚ軸の出力値Ｘ＝ｘ１．ｙ−ｙ
、ｚ＝ｚ１の情報から外力Ｆは
により補正して演ｎ導出する３方向力検出器の較正方法
である。In this prior example, as shown in the side view and explanatory diagram of the detected values of each axis in Fig. 6 ((a) corresponds to (a2) and (bl> corresponds to (b2)), Measure the weight W of the work tool, set the X-axis of the 3-direction force detector vertically so that the weight of the tool does not touch the Y-axis and Z-axis, and calculate the output Y-Y of the Y- and Z-axes at that time, Z = Zo , rotate the tip of the automatic machine 90 degrees around the Z axis, prevent the tool 14ffi from being affected by XITO of the three-direction force detector, and take the output of the X axis at that time, X=XQ, and calculate these X. , Yo, and Zo as reference values, and 3 when external force is applied in any working posture.
Output values of the X, Y, and Z axes of the directional force detector X=x1. y-y
, z=z1, the external force F is corrected as follows and the calculation n is derived.
（発明が解決しようとする問題点）
ところが、従来例ではツール３が同じ姿勢で作業を行な
う場合は有効であるが、ツール３の姿勢が変化する作業
の場合は使用できない。(Problems to be Solved by the Invention) However, although the conventional method is effective when the tool 3 performs work in the same posture, it cannot be used when the tool 3 changes its posture.
また、先行例は３方向力検出器２のＸ軸、Ｙ軸を鉛垂方
向に合わせることが困難なこともあり、ツール３の姿勢
変化、にも影響されないとしているものの特定の２つの
姿勢での較正値であり、３方向力検出器２のクロストー
ク、熱等による特性を考慮した手段とは言えない。In addition, in the previous example, it was difficult to align the X-axis and Y-axis of the three-directional force detector 2 in the vertical direction, and although it is said that it is not affected by changes in the posture of the tool 3, it is difficult to align the This is a calibration value, and cannot be said to be a means that takes into account the characteristics of the three-directional force detector 2 due to crosstalk, heat, etc.
ここにおいて本発明は、これら従来例、先行例の難点を
克服し、例えば産業用ロボット手首部に装着した３方向
力検出器の較正値を、ツールの姿勢に関係なく、３方向
力検出器の特性を考慮して、導出する零点較正方法を提
供することを、その目的とする。Here, the present invention overcomes the difficulties of these conventional examples and precedent examples, and, for example, the calibration value of the three-directional force detector attached to the wrist of an industrial robot can be adjusted regardless of the posture of the tool. The purpose is to provide a zero point calibration method that takes into account the characteristics.
（問題点を解決するための手段）
本発明の３方向力検出器の零点較正方法は、ツール重量
Ｗを測定し、
産業用ロボットのある姿勢において最先端軸を回転させ
、
少なくとも３ポイント以上での外力の各軸（Ｘ。(Means for Solving the Problems) The zero point calibration method of the three-directional force detector of the present invention measures the tool weight W, rotates the leading edge axis in a certain posture of the industrial robot, and calibrates the zero point of the three-directional force detector at least three points or more. Each axis of external force (X.
Ｙ、Ｚ）検出値をとり、
３方向力検出器の取り付は方向が固定であることから、
検出値のＺ成分ｔよ各ポイントで等しいことに着目し、
Ｘ、Ｙの較正値を近似、解で算出し、それらから７の較
正値を導出する手段である。Y, Z) detection values are taken, and since the mounting direction of the 3-directional force detector is fixed,
Noting that the Z component t of the detected value is equal at each point,
This is a means of calculating the calibration values of X and Y using approximations and solutions, and deriving the calibration value of 7 from them.
作業内容の必要に応じ、産業用ロボットの姿勢を変化さ
せ、前記手段を繰り返し行ないその平均値を較正値とす
る手段である。This means changes the posture of the industrial robot according to the needs of the work, repeats the above steps, and uses the average value as a calibration value.
外力のＸ、Ｙ、Ｚ軸方向成分において、Ｚ成分は各姿勢
変化でも等しくしていることから、
３ポイント以上の各軸検出値から、２成分を消去し、Ｘ
、Ｙの較正値を近似解で求められ、それらから２の較正
値も導出される。Regarding the X, Y, and Z axis direction components of external force, since the Z component is made equal for each posture change, two components are deleted from each axis detection value of 3 points or more, and the
, Y are obtained by approximate solutions, and the calibration values of 2 are also derived from them.
以下、本発明の一実施例について、図面を参照して説明
する。An embodiment of the present invention will be described below with reference to the drawings.
第１図は、この一実施例における零点較正方法を表わす
フローチャートである。FIG. 1 is a flowchart showing the zero point calibration method in this embodiment.
３方向力検出器２の産業用ロボットへの装着は、第２図
に示すとおりロボット手首部１に固定であり、ツール３
も３方向力検出器２に固着されている。The three-directional force detector 2 is attached to the industrial robot by fixing it to the robot wrist 1 as shown in FIG.
is also fixed to the three-directional force detector 2.
第３図は、ツールの３つのポイント形態図と各軸検出値
の関係図で、（ａｌ）は（Ｃ２）に、（ｂｌ）は（ｂ２
）に、（Ｃ１）は（Ｃ２）にそれぞれ対応する。Figure 3 is a diagram showing the relationship between the three point configurations of the tool and the detected values of each axis, where (al) corresponds to (C2), and (bl) corresponds to (b2).
), and (C1) corresponds to (C2), respectively.
まず、ロボット手首部１のある姿勢において、最先端軸
を回転動作させ、第３図に示すように、少なくとも、３
ポイント以上で３方向力検出器２の各軸データを記憶し
、その検出値を基にロボット制′ｍ装置内等において、
各軸較正値を演算する。First, in a certain posture of the robot wrist part 1, the most advanced axis is rotated, and as shown in FIG.
At a point or higher, each axis data of the three-directional force detector 2 is memorized, and based on the detected value, it is used in a robot control device, etc.
Calculate each axis calibration value.
各ポイントでの各軸データを
（Ｘ 、 ｙｌ 、 Ｚｌ ）
（ｘ 、Ｖ２．Ｚ２）
（Ｘ３ ・ ｙ３・ Ｚ３）
ツール３のｍ８をＷとし、
各軸較正値をＸ 、 ｙｏ 、Ｚｏとすると、（Ｘ
Ｘ ）＋（Ｖｌ ｙｏ）＋（ｚ、−ｚｏ）＝Ｗ
＋＋・・・（１）（Ｘ −Ｘ ）＋（ｙ −ｙ
）＋（Ｚ２−Ｚｏ ）＝Ｗ ・・・・・・＋
２）（ｘ３−ｘｏ）＋（ｙ３−ｙｏ）＋（ｚ３−ｚＯ）
＝Ｗ −・−・（３）となる。Assuming that the axis data at each point is (X, yl, Zl) (x, V2.Z2) (X3・y3・Z3), m8 of tool 3 is W, and each axis calibration value is X, yo, Zo, (X
X ) + (Vl yo) + (z, -zo) = W
++...(1)(X −X )+(y −y
)+(Z2-Zo)=W ・・・・・・+
2) (x3-xo)+(y3-yo)+(z3-zO)
=W −・−・(3).
ここで、手首最先端軸と３方向力検出器３の取り付は方
向は、第２図に示すように固定であるため、その検出値
のＺ成分は各ポイントで等しく、その値は第４図（（ａ
）は手首先端の要部側面図。Here, since the mounting direction of the wrist tip axis and the three-direction force detector 3 is fixed as shown in FIG. 2, the Z component of the detected value is equal at each point, and the value is Figure ((a
) is a side view of the main part of the wrist tip.
（ｂ）・（Ｃ）はＺ軸方向検出値の説明図）に示すよう
に、最先端軸のベクトルａの方向余弦（Ｚ方向）Ｃ２で
決定される。As shown in (b) and (C) (explanatory diagram of Z-axis direction detected value), it is determined by the direction cosine (Z direction) C2 of the vector a of the leading edge axis.
＝ （ｚ３−ｚＯ）＝Ｗ１ −−−−−−（４）Ｗ１
＝−ＷＸａｚ ・・・・・・・・・（５
）Ｗ２＝Ｗ −Ｗ１＝Ｗ （１−ａ、）・・・・・
・（６）
また、（１）、＜２）、（３）、（４）、（６）式より
（ｘ −Ｘｏ）＋ （ｙｌ−ｙｏ）＝Ｗ２・・・・・
・（７）
・・・・・・（８）
・・・・・・（９）
と表わすことができる。= (z3-zO)=W1 --------(4) W1
=-WXaz ・・・・・・・・・(5
)W2=W -W1=W (1-a,)...
・(6) Also, from equations (1), <2), (3), (4), and (6), (x - Xo) + (yl-yo) = W2...
・(7) ......(8) ......(9) It can be expressed as follows.
これを以下のように茸ぎ換えて、較正ｆｆｌ ｘ ｏ
。Replace this as below and calibrate ffl x o
.
ｙｏを変数とみなすと、円として表わすことができる。If yo is regarded as a variable, it can be expressed as a circle.
・・・・・・（１０）
・・・・・・（１１）
・・・・・・（１２）
この３つの（１０）、（１１）、（１２）式を ・満た
す近似解Ｘ。、ｙｏが較正値となる。......(10) ......(11) ......(12) Approximate solution X that satisfies these three equations (10), (11), and (12). , yo are the calibration values.
この較正値を求める計算は、まず各２つの円の交点を結
ぶ直線を求める。To calculate this calibration value, first find a straight line connecting the intersections of two circles.
（１０）、（１１）、（１２）式より
となり、３つの直線は
２ （Ｘｌ −Ｘ２ ） Ｘ□ ＋２ （ｙＩ Ｖ
２ ） Ｖ。From equations (10), (11), and (12), the three straight lines are 2 (Xl −X2 ) X□ +2 (yI V
2) V.
”（Ｘ Ｘ２）＋（ＶＩ Ｖ２） ・・・（１
６）２ （Ｘ２ Ｘ３ ） ＸＯ＋ ２ （ｙ２−ｙ
３ ） Ｖ。”(X X2)+(VI V2)...(1
6) 2 (X2 X3) XO+ 2 (y2-y
3) V.
＝ （ｘ、、−Ｘ３ ）＋ （ｙ２−ｙ３） ・・・
（１７）２ （ｘ３ Ｘｌ）Ｘｏ ＋２ （ｙ３ Ｖｌ
）ｙ０＝ （Ｘ３−Ｘｌ ） ＋ （ｙ３ ’ｌ’ｌ
） ・・１１８）と表わすことができる。= (x,, -X3)+ (y2-y3)...
(17) 2 (x3 Xl)Xo +2 (y3 Vl
)y0= (X3-Xl) + (y3 'l'l
) ...118).
さらに、（１６）、＜１７）、（１８）式をそれぞれ（
１０）、（１１）、（１２）式に代入し、交点の座標（
ｘ、ｙ ）を得る。Furthermore, equations (16), <17), and (18) are changed to (
10), (11), and (12) and calculate the coordinates of the intersection (
x, y).
この場合、第５図の解析図に示すように、交点の２座標
のうち、（１６）、（１７）、（１８）式の交点Ｐに近
い方を選択するものとする。In this case, as shown in the analytical diagram of FIG. 5, of the two coordinates of the intersection, the one closer to the intersection P of equations (16), (17), and (18) is selected.
計算された結果を、
（ｘｏｌ・ｙｏｌ）
（ｘｙ）
０２’ ０２
（ｘ、ｙ）
とすると、較正値Ｘ 、’１０は
Ｘｏ−（Ｘ０１＋Ｘ０２＋ｘｏ３）／３ＶＯ＝ （ｙｏ
１＋ ｙｏ２＋ ｙｏ３） ／ ３となる。If the calculated result is (xol・yol) (xy) 02' 02 (x, y), then the calibration value X,'10 is Xo-(X01+X02+xo3)/3VO= (yo
1+yo2+yo3)/3.
次に、（４）、＜６）、（７）、（８）、（９）式より
（ｚｌ−ｚｏｌ）＝Ｗ −（（ｘ、−ｘｏ＞＋（ｙ、−
ｙｏ＞） −（１９） ’（ｚ２−２ｏ２）２＝Ｗ２
−〔（Ｘ２−Ｘｏ）２＋（ｙ２−ｙｏ）２〕・・・（２
０）（ｚ −ｚ ）＝Ｗ −（（ｘ３−ｘ。）＋（ｙ
３−ｙｏ）） ・（２１）と表ねずことができる。た
だし、ｚｏ１〜ｚｏ３はＸｏ１〜ｘｏ３等にべζしる。Next, from equations (4), <6), (7), (8), and (9), (zl-zol)=W −((x, −xo>+(y, −
yo＞) −(19) '(z2−2o2)2=W2
-[(X2-Xo)2+(y2-yo)2]...(2
0)(z −z )=W −((x3−x.)+(y
3-yo)) ・(21) can be expressed as follows. However, zo1 to zo3 are based on Xo1 to xo3, etc.
したがって、較正値Ｚ□は
Ｚ ｏ ＝（Ｚ ｏ１＋ Ｚ ０２ ＋ Ｚ ｏ３）
／ ３と求めることができる。Therefore, the calibration value Z□ is Z o = (Z o1 + Z 02 + Z o3)
/ 3 can be obtained.
また、この演算を手首部の姿勢を変えてｎ（ｎ〉３）回
行なったならば、較正値ｘ、ｙｏ。Moreover, if this calculation is performed n (n>3) times while changing the posture of the wrist, the calibration values x, yo are obtained.
Ｚｏは ｚｏ（Ｅ ｚｏ、’）／ｎ Ｊ＝１ となる。Zo is zo(E zo,’)/n J=1 becomes.
このように姿勢変化に対応して演算を繰り返しその平均
値を較正値とすることで、その確度がさらに格段と向上
する。By repeating calculations in response to posture changes and using the average value as the calibration value, the accuracy is further improved.
かくして本発明によれば、３方向力検出鼎に固定した例
えば産業用ロボットにおいて、ロボットのある姿勢での
最先端軸を回転させ、そのときに得る３方向力検出器の
各軸の検出値を得るだけで、特別な姿勢の調整を要する
ことなく、正確な各軸較正値を正確に簡単に導出するこ
とができ、作業の信頼性が向上し、効率が著しく増大す
る。Thus, according to the present invention, in an industrial robot, for example, which is fixed to a three-directional force detector, the most advanced axis of the robot in a certain posture is rotated, and the detected values of each axis of the three-directional force detector obtained at that time are obtained. By simply obtaining the information, accurate calibration values for each axis can be easily and accurately derived without requiring any special posture adjustment, improving work reliability and significantly increasing efficiency.
第１図は本発明の一実施例における演算過程を表わす流
れ図、第２図は産業用ロボットのの手首部に３方向力検
出器を装着しその先にツールを固定した構成を示す側面
図、第３図は産業川口ボットの最先端軸を回転させたと
きの正面図と各軸検出値を示す図、第４図（よ最先端軸
の向く方向と３方向力検出器の２軸が一致していること
を表ゎず図、第５図は一実施例の計算式を示す図、第６
図は先行例の説明図である。
１・・・・・・ロボット手首部（３方向力検出器支持部
材）
２・・・・・・３方向力検出器
３・・・・・・ツール
４・・・・・・ロボットアーム。
出願人代理人 佐 藤 −雄
第２図
（α２） （ｂ２） （Ｃ２）第３区
第４図
第６図
第５図FIG. 1 is a flowchart showing the calculation process in an embodiment of the present invention, and FIG. 2 is a side view showing a configuration in which a three-directional force detector is attached to the wrist of an industrial robot and a tool is fixed to the tip of the sensor. Figure 3 shows the front view and the detected values for each axis when the most advanced axis of the Industrial Kawaguchi Bot is rotated, and Figure 4 shows the direction in which the most advanced axis faces and the two axes of the three-directional force detector. Figure 5 is a diagram showing the calculation formula of one example, Figure 6 is a diagram showing the calculation formula of one example,
The figure is an explanatory diagram of a prior example. 1...Robot wrist part (3-directional force detector support member) 2...3-directional force detector 3...Tool 4...Robot arm. Applicant's agent Mr. Sato Figure 2 (α2) (b2) (C2) District 3 Figure 4 Figure 6 Figure 5
Claims (1)
かる力の検出値をとり、 それら検出値のＺ成分は各ポイントで等しいことに着目
し、Ｘ、Ｙの較正値を近似解で算出し、それらからＺの
較正値を導出する ことを特徴とする３方向力検出器の零点較正方法。 ２、支持部材の最先端軸の回転を３より多い回数変化さ
せ、それらから導出した較正値の平均値をとる 特許請求の範囲第１項記載の３方向力検出器の零点較正
方法。[Claims] 1, 3-directional force detector is fixed to the support member, the tool weight W is measured, the tool is fixed to the 3-directional force detector, the most extreme axis of the support member is rotated, and at least 3-directional force detector is fixed to the support member. Take the detected values of the force applied to each axis (X, Y, Z) above the point, pay attention to the fact that the Z component of these detected values is equal at each point, and calculate the calibration values for X and Y using an approximate solution. , a zero point calibration method for a three-directional force detector, characterized in that a calibration value of Z is derived from them. 2. The zero point calibration method for a three-directional force detector according to claim 1, wherein the rotation of the most extreme axis of the support member is changed more than three times and the average value of the calibration values derived therefrom is taken.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14672686A JPS633235A (en) | 1986-06-23 | 1986-06-23 | Zero-point calibrating method for three-directional force detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14672686A JPS633235A (en) | 1986-06-23 | 1986-06-23 | Zero-point calibrating method for three-directional force detector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS633235A true JPS633235A (en) | 1988-01-08 |
Family
ID=15414179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14672686A Pending JPS633235A (en) | 1986-06-23 | 1986-06-23 | Zero-point calibrating method for three-directional force detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS633235A (en) |
Cited By (2)
| 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 |
| JP2022168639A (en) * | 2021-04-26 | 2022-11-08 | 株式会社トライフォース・マネジメント | Calibration method of force sensor |
-
1986
- 1986-06-23 JP JP14672686A patent/JPS633235A/en active Pending
Cited By (2)
| 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 |
| JP2022168639A (en) * | 2021-04-26 | 2022-11-08 | 株式会社トライフォース・マネジメント | Calibration method of force sensor |
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