机器人六维腕力传感器标定方法和标定装置的研究

Study on the Method of Dynamic Characteristic Calibration of the 6-Aixs Wrist Force Sensor for Robot

通过对机器人六维腕力传感器系统的各种标定方法的分析讨论,说明了应采用阶跃响应的方法来对它的动态性能进行标定。从矩形脉冲频谱对系统传递函数影响的角度,说明了为减少矩形脉冲频谱对传递函数标定曲线的干扰,应使阶跃激励开始时刻前的采样点数为零。新设计的实验方法和实验装置便于测出标定中使用的激励信号,通过数据采样系统的"软触发"功能,准确抓取到阶跃开始时刻,减少了干扰。同时,在该实验台上加载所使用的定滑轮数量较少,也有效地减小了标定误差。

The step response method should be applied in the dynamic characteristic calibration of the 6-aixs wrist force sensor for robot and some comparisons are made with other calibration methods. Before starting the step drive pulse, the sampling number should be zero in order to reduce the interference from the rectangle pulse signal spectrum to transfer function. A new designed experiment table is easy to get the drive signal. Added by sampling program, the trigger time of step drive can be captured. Then, the interference can be reduced to zero. A very few of crown blocks on the experiment table could be used, thus the calibration error is reduced.