SIA OpenIR  > 空间自动化技术研究室
Alternative TitleCollision position sensing method based on six-dimensional force sensor
冷雨泉; 张会文; 张阳; 张伟; 何旭; 刘玉旺; 骆海涛; 陈正仓; 蔺兆宝; 付明亮
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002


Other Abstract

The invention relates to a collision position sensing method based on a six-dimensional force sensor. The collision position sensing method includes the following steps that the six-dimensional force sensor is installed between a first joint of a mechanical arm and a base; force and moment information fed back by the six-dimensional force sensor are substituted into a force analysis total equation containing gravity compensation and dynamics compensation, and acting force and moment of a collision point are obtained; and the position of the collision point in a base coordinate system can be obtained according to the acting force and the moment of the collision point. By means of the collision position sensing method, calculation of position information of point contact on the mechanical arm can be rapidly, conveniently and accurately achieved, and a robot has a higher adaptive capacity to environments.

PCT Attributes
Application Date2015-05-04
Date Available2018-05-15
Application NumberCN201510221946.5
Open (Notice) NumberCN106182087A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
冷雨泉,张会文,张阳,等. 基于六维力传感器的碰撞位置感知方法[P]. 2016-12-07.
Files in This Item:
File Name/Size DocType Version Access License
CN201510221946.5.pdf(673KB)专利 开放获取CC BY-NC-SAView Application Full Text
CN201510221946.5授权.p(761KB)专利 开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[冷雨泉]'s Articles
[张会文]'s Articles
[张阳]'s Articles
Baidu academic
Similar articles in Baidu academic
[冷雨泉]'s Articles
[张会文]'s Articles
[张阳]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[冷雨泉]'s Articles
[张会文]'s Articles
[张阳]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: CN201510221946.5.pdf
Format: Adobe PDF
File name: CN201510221946.5授权.pdf
Format: Adobe PDF
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.