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    • 36. 发明授权
    • Method and apparatus for calibrating transformation matrix of force
sensor
    • 用于校准力传感器转换矩阵的方法和装置
    • US4620436A
    • 1986-11-04
    • US784502
    • 1985-10-04
    • Hisaaki HirabayashiKoichi SugimotoShinichi AraiTomoyuki MasuiHidetoshi Inaba
    • Hisaaki HirabayashiKoichi SugimotoShinichi AraiTomoyuki MasuiHidetoshi Inaba
    • B25J9/16B25J13/08G01L5/16G01L5/22G01L25/00
    • G01L25/00B25J13/085B25J9/1692G01L5/161G01L5/226
    • The present invention relates to a method and an apparatus for calibrating a transformation matrix of a force sensor, in which: a force sensor is attached between a wrist portion and a hand portion of a robot; a standard work (weight) whose weight and position of a center of gravity are known is attached or held to the hand portion; each driving source of the robot is made operative in response to commands from a control unit and thereby sequentially changing the posture of the force sensor attached to the robot; the control unit obtains a force consisting of a force and a moment due to an arithmetic operation from the posture and position information of the force sensor which is detected on the basis of signals from encoders to detect an operational amount of each operating element of the robot and from the weights and the positions of the centers of gravity of the standard work and the hand portion and the like inputted as data; the control unit receives a strain voltage detected from the force sensor; the control unit calculates the transformation matrix of the force sensor from the force consisting of the force and moment derived and from the strain voltage received in accordance with a predetermined arithmetic logic equation and then stores the transformation matrix into memory means; and then the transformation matrix of the force sensor is calibrated.
    • 本发明涉及一种用于校准力传感器的变换矩阵的方法和装置,其中:力传感器安装在机械手的腕部和手部之间; 其重量和重心位置已知的标准作业(重量)被附着或保持在手部; 机器人的每个驱动源响应于来自控制单元的命令而操作,从而顺序地改变附接到机器人的力传感器的姿势; 控制单元根据来自编码器的信号检测到的力传感器的姿态和位置信息,从由运算操作产生的力和力矩构成的力,以检测机器人的每个操作元件的操作量 并且从作为数据输入的标准作品的重心和作为数据的手部等的重量和位置; 控制单元接收从力传感器检测到的应变电压; 控制单元根据由力和力导出的力,根据预定的算术逻辑方程从接收的应变电压计算力传感器的变换矩阵,然后将变换矩阵存储到存储装置中; 然后校正力传感器的变换矩阵。