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基于六维力传感器的碰撞位置感知方法
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
Department空间自动化技术研究室
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
Country中国
Subtype发明授权
Status有权
Abstract

本发明涉及基于六维力传感器的碰撞位置感知方法,包括以下步骤:在机械臂的第一关节与基座之间安置六维力传感器;将六维力传感器反馈的力和力矩信息代入含有重力补偿和动力学补偿的力分析总体方程,得到碰撞点的作用力和力矩;根据碰撞点的作用力和力矩得到碰撞点在基坐标系的位置。本发明可快速、方便、准确地实现机械臂上点接触的位置信息计算,使机器人具有更强的环境适应能力。

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
description.pctapplicationdata

2016-12-07

Application Date2015-05-04
2016-12-07
Date Available2018-05-15
Application NumberCN201510221946.5
Open (Notice) NumberCN106182087B
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/21978
Collection空间自动化技术研究室
Affiliation中国科学院沈阳自动化研究所
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.
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