METHOD AND APPARATUS FOR CALIBRATING MULTI-AXIS LOAD CELL IN DEXTEROUS ROBOT

摘要

PROBLEM TO BE SOLVED: To automatically calibrate load cells in a robot hand.SOLUTION: A robotic system including a dexterous robot, includes: robotic joints A, B, C, D, E, F; angle sensors 15 configured to measure joint angles at a corresponding one of the joints; and the load cells for measuring a set of strain values imparted to a corresponding one of the load cells 18 during a predetermined pose of the robot 10. A host machine 32 is electrically connected to the load cells and angle sensors, and receives the joint angle values and strain values during the predetermined pose. The robot presses together mating pairs of load cells to form the predetermined pose. The host machine executes algorithm to process the joint angles and strain values, and from the set of all calibration matrices that minimize errors in force balance equations, selects the set of calibration matrices that is closest in a value to a pre-specified value. A method for calibrating the load cells via the algorithm is also provided.