Method and apparatus for calibrating transformation matrix of force sensor
US4620436A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Oct 4, 1985 |
| Grant date | Nov 4, 1986 |
| Priority date | — |
| Expiry date | Oct 4, 2005 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01L5/226
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
The present invention relates to a method and an apparatus for calibrating a transformation matrix of a force sensor, in which: a force sensor is attached between a wrist portion and a hand portion of a robot; a standard work (weight) whose weight and position of a center of gravity are known is attached or held to the hand portion; each driving source of the robot is made operative in response to commands from a control unit and thereby sequentially changing the posture of the force sensor attached to the robot; the control unit obtains a force consisting of a force and a moment due to an arithmetic operation from the posture and position information of the force sensor which is detected on the basis of signals from encoders to detect an operational amount of each operating element of the robot and from the weights and the positions of the centers of gravity of the standard work and the hand portion and the like inputted as data; the control unit receives a strain voltage detected from the force sensor; the control unit calculates the transformation matrix of the force sensor from the force consisting of the force and moment derived and from the strain voltage received in accordan…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.