One Method for Eliminating the Effect of the Inertial Force/Torque on the Output of Robot’sWrist Force Sensor
Due to the effect of inertial force/torque, the six-dimensional force signal outputted by robot’s wrist force sensor can’t correctly reflect the magnitude of force/torque at the interface between the robot’s gripper and the environment. To provide actual force signal for robot control system, the output signal caused by inertial force/torque must be eliminated. Based on two conventional methods such as “two points measurement” and “several points measurement for mechanical model”, one new method as “one point measurement” is introduced in this paper for eliminating the effect of the inertial force/torque on the output of robot’s wrist sensor. As for first two methods, the robot’s pose must be changed, so the experimental process is complex with not only great error but also bad stability. As for the third method, gripper only need be opened or closed, while the mass of grasped workpiece must be changed, so the experimental process is simple with not only little error but also good stability.
robots wrist force sensor inertial force/torque
HuiWang Tingting Ma Quanjun Song Yunjian Ge
Institute of Intelligent Machines Chinese Academy of Sciences Hefei,Anhui Province,China
国内会议
合肥
英文
1-5
2011-10-15（万方平台首次上网日期，不代表论文的发表时间）