机器人力传感技术初步分析

Prelimitary Experimental Study On The Technology of Wrist Sensors

本文指出现有机器人力传感技术是静态测量技术,主要表现在测量原理上没有考虑到惯性力、哥氏力和向心力等机器人运动中所特有的力以及考虑外力的反映过程是应力波的传播过程,在测量误差和标定两方面也都沿袭传统静态测量技术。因此,现有机器人力传感技术只适用于低速均匀运动和慢变化的外力测量。对腕力传感器的实验证明上述论点是正确的。本文对动态力的测量途径做了初步探讨。

This paper point out that nowadays the force sensors for robot belong to the category of static state technology.All dynamical forces like the inertial force,Coriolis force,etc and the stress propagation processes of dynamical force haven't been considered.The calibration technology and errors calculation are static statetechnology,too.Therefore,the force sensors of todayare only suitable to measure the slow time varying force and are workingunder the conditions that robots do not move too fast and the control systemof robots can adjust the influences of measuring error to an allowable level,Several experiments show the correctness of above judgement.The principles to measure dynamical force include the rules of force sensors,of calibration and of error caloulation three parts.The three parts shoudd bebased on Newton's law or Lagrangian equation.In other words,the principlesto measure dynamical force and the analyses of kinemacscsare based on thesame type of dynamical equation.The deferences and simarities between the inverse problem of kinetics and the principles of measurement are compared.