机器人六维腕力传感器动态性能标定系统的研究

Research on the Dynamic Performance Calibration System for Robot's 6-axis Wrist Force Sensor

介绍了自行研制的机器人六维腕力传感器动态性能标定系统。由加载试验台、压电式力传感器、电荷放大器、自行研制的数据采集系统、数据处理与性能分析系统、图表和数据输出系统等部分组成。在加载试验台上可对六维传感器的各维分别进行单向加载;压电式力传感器为准确抓取阶跃信号的开始时刻提供了依据;数据采集系统将腕力传感器和压电式传感器输出的模拟信号进行采样并将采样数据保存到数据文件中,数据处理与性能分析的系统由主程序、数据处理和性能分析程序组成,主程序按顺序调用各程序模块并传输数据,数据处理和性能分析程序可对数据进行预处理和FFT、自功率谱、相关等的计算,识别腕力传感器的模态参数。本文还对某一传感器的Fz方向进行了动态标定,给出了该传感器的模态参数和工作频带。

A Dynamic performance calibration system for robot＇s 6 -axis wrist force sensor developed by ourselves is introduced in this paper. This system consists of experiment bench for loading, piezoelectricity force sensor, charge amplifier, data acquisition system, data processing and performance analyzing system, graphic chart and data output system. On the experiment bench, the 6-axis wrist force sensor can be loaded in each dimension respectively. By the piezoelectricity force sensor＇s signal, the step change time can be caught exactly. Data acquisition system samples the analog signals of 6-axis wrist force sensor and piezoelectricity force sensor and saves the sampling data in a file. Data processing and performance analyzing system consists of main program, data processing and performance analyzing program. The main program calls the program modules in sequence and transfers data. The data processing and performance analyzing system pre-processes the sampling data and calculates the value of FFr, power spectrum, correlation, etc. It can also identify the 6-axis wrist force sensors＇ modal parameters. A wrist sensor has been calibrated in the Fz dimension. Its modal parameter and working frequency have also been given.