机器人基座六维力传感器重力补偿研究

机器人基座六维力传感器常受到安装精度和机器人重力影响而出现测量误差。为了解决这一问题,在利用 D-H 法建立机器人位姿模型的基础上,推导出基于最小二乘法的基座六维力传感器静态重力补偿算法。针对算法中需要采集大量机器人位姿数据的问题,采用正交实验法确定样本空间以减少位姿采集量。最后以六自由度协作机器人为例,利用 6 因素 5 水平的正交实验表获取机器人典型位姿,搭建数据采集平台,实现补偿算法所需数据的采集,求解该机器人的基座六维力传感器静态重力补偿矩阵。实验表明,该补偿算法能够有效得到基座六维力传感器测得的误差值。

Research on Gravity Compensation of Six-dimensional Force Sensor at the Base of Robot

The measurement error of the six-dimensional force sensor at the base of robot is often affected by the installation accuracy and the gravity of the robot.To solve this problem,based on the establishment of the robot pose model with the DH method,the gravity compensation algorithm of the six-dimensional force sensor based on the least square method at the base of robot is derived.Aiming at the problem that a large number of robot pose datamust be collected in the algorithm,the orthogonal experiment method is used to determine the sample space and reduce the number of pose collection.Finally taking a 6DOF collaborative robot as an example,6 factors and 5 levels orthogonal test is used to acquire robot typical pose,set up data acquisition platform,collect the data of the compensation algorithm,solve and get the static gravity compensation matrix of six-dimensional force sensor on the base of robot.The experiments show that the compensation algorithm can effectively obtain the error value of measurement from six-dimensional force sensor at the base of robot.