Auto-calibration of Robot's Multi-axis Wrist Force Sensor

摘要

A robot's multi-axis wrist force sensor -end effector/workpiece model is built. The force measurement techniques of wrist force sensor are analyzed by using robot dynamic analysis method. A unified equation which expresses the relationship between the forces /moments applied the sensor and the forces/moments exerted by end-effector with environment is derived, and is suitable for both static and dynamic force measurement. According to this equation, the auto-calibration method for wrist force sensor is investigated. A method, called "two-times-loading method", is proposed based on the previous study, which can improve the accuracy of static calibration effectively. A method for dynamic auto-calibration is also developed in this paper, which can on-line measure the dynamic performance index of multi-axis wrist force sensor.