摘要
针对六维力传感器在工业机器人运动过程中,受末端工具重力影响而导致其零位值变化的问题,提出了一种能够对传感器的零位值实时更新的重力补偿算法。首先对机器人连杆结构进行分析,推导出重力补偿算法,然后通过MATLAB软件得到运用该算法进行理论计算的结果曲线,并运用Adams软件对机器人相关运动进行仿真,测得末端工具重力在六维力传感器所在坐标系各力/力矩分量的曲线,最终验证了该重力补偿算法理论推导的正确性。运用该重力补偿算法,可有效提高六维力传感器实际应用中的测量精度。
Aiming at six-axis force sensor changing the value of zero by the influence of the end of the tool gravity in the process of industrial robot movement,a gravity compensation algorithm is proposed which can update the sensor zero value real-timely. First analysis of connecting rod structure of the robot,gravity compensation algorithm is derived. Then a curve of the results of theoretical calculation using the algorithm is obtained through the MATLAB software. By using the Adams software to simulate robot＇s related movement,the curve of gravitational force/torque component which in six-axis force sensor＇s coordinate system is measured. Finally, the correctness of gravity compensation algorithm is verified. The measurement accuracy of six-axis force sensor in practical application is effectively improved by using the gravity compensation algorithm.
作者
王志军
韩静如
李占贤
刘立伟
WANG Zhi-jun;HAN Jing-ru;LI Zhan-xian;LIU Li-wei(College of Mechanical Engineering,North China University of Science and Technology,Hebei Tangshan 063009,Chin)
出处
《机械设计与制造》
北大核心
2018年第7期252-255,共4页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(51505124)
河北省自然科学基金资助项目(E2016209312)
河北省教育厅资助项目(QN2015203)
华北理工大学培育基金项目(JP201505)
