CN111141440B - Method for compensating six-dimensional force sensor - Google Patents

Method for compensating six-dimensional force sensor Download PDF

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CN111141440B
CN111141440B CN201911354445.9A CN201911354445A CN111141440B CN 111141440 B CN111141440 B CN 111141440B CN 201911354445 A CN201911354445 A CN 201911354445A CN 111141440 B CN111141440 B CN 111141440B
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屈文轩
高波
王泽斌
姜鑫
邓茜
吴亚男
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SHAANXI ELECTRICAL APPLIANCE RESEARCH INSTITUTE
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    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
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Abstract

The invention discloses a method for compensating a six-dimensional force sensor. According to the invention, the compensation of the moment and the force in the initial calculation matrix is realized by setting the preset relation between the moment and the force and the preset relation between the moment and the moment, so that the measurement precision is improved. When the preset relation between the moment and the force is analyzed, the influence of the moment generating the main influence on the forces in different directions is considered for compensation, and the influence of the moment generating the secondary influence on the forces in different directions is also considered for compensation. The method can enable the measurement result to be more accurate.

Description

Method for compensating six-dimensional force sensor
Technical Field
The invention relates to a method for compensating a six-dimensional force sensor, and belongs to the field of automation.
Background
At present, in the application process of a mechanical arm, a six-dimensional force sensor at the tail end of the mechanical arm is responsible for monitoring the stress condition of the mechanical arm in real time, and is used as a reference for motion planning, so that the changes of three force components and three moment components can be monitored simultaneously, all information of the force and the moment is fed back to a central controller in real time, and the central controller is convenient to control the mechanical arm. The process of using the six-dimensional force sensor is a process of resolving data acquired by all branches by using a specific algorithm and converting the data into a space load value.
However, in the actual process, the six-dimensional force sensor is found to have the following problems: when the rigidity requirement of the six-dimensional force sensor is large, and the measuring ranges of force and moment are close to 1:1, the inter-dimensional coupling of the six-dimensional force sensor is serious, and the accuracy of the obtained calculation result is low. Through retrieval, no method for solving the problem is found in the prior art at present, and only the calculation result with lower precision can be used for application.
Disclosure of Invention
In view of this, the invention provides a method for compensating a six-dimensional force sensor, which compensates a calculation result of the six-dimensional force sensor through a compensation algorithm without increasing the structural complexity of the six-dimensional force sensor, so as to improve the calculation accuracy of the six-dimensional force sensor.
A method for compensating a six-dimensional force sensor obtains an initial resolving matrix composed of six elements of force and moment in the directions of an x axis, a y axis and a z axis;
determining a preset relation between the force and the moment according to the difference between the value of the initial resolving matrix of the six-dimensional force sensor and the value of the calibration force; substituting the elements obtained in the initial resolving matrix into a preset relation to obtain the compensation amount of the force, and compensating the force in the initial resolving matrix;
determining a preset relation between the moment and the moment according to the difference between the value of the initial resolving matrix of the six-dimensional force sensor and the calibration force value; substituting the elements obtained from the initial resolving matrix into a preset relation to obtain the compensation amount of the moment; compensating the moment in the initial resolving matrix;
the preset relations between the force and the moment comprise a first preset relation and a second preset relation, wherein the first preset relation reflects the influence relation of the main influence moment on the force in the directions of the x axis, the y axis and the z axis; the second preset relation is the influence relation of the reaction time influence moment on the forces in the directions of the x axis, the y axis and the z axis; the main influence moment and the secondary influence moment are determined according to an actual application analysis scene.
Preferably, the initial solution matrix is obtained by multiplying a preset calibration matrix by a sensitivity voltage difference of the sensor.
Preferably, when the first preset relationship is obtained, the moment in the x-axis direction is used as the main influence moment, and the influence relationship generated by the moment in the x-axis direction on the forces in the x-axis, y-axis and z-axis directions is solved, so that the first preset relationship is as follows:
Figure BDA0002335511700000021
Figure BDA0002335511700000022
Figure BDA0002335511700000023
wherein, Δ Fx1Δ Fy, a compensation corresponding to a predetermined relationship of the moment in the x-axis direction to the force in the x-axis direction1Δ Fz, a compensation for a predetermined relationship between the moment in the x-axis direction and the force in the y-axis direction1For compensation corresponding to a predetermined relationship between the moment in the x-axis direction and the force in the z-axis direction, Mx0For the moment, k, in the direction of the x-axis in the initial solution matrixi'Is a coefficient, i ═ 1, 2, …, 9, d1、d2、d3Is a constant term.
Preferably, when the second preset relationship is obtained, the moments in the y-axis direction and the z-axis direction are used as secondary influencing moments, and the influencing relationships of the moments in the y-axis direction and the z-axis direction on the forces in the x-axis direction, the y-axis direction and the z-axis direction are solved, so that the second preset relationship is as follows:
ΔFx2＝e1×My0 2+e2×My0×Mz0+e3×Mz0 2+e4×My0+e5×Mz0+f1 (4)
ΔFy2＝e6×My0 2+e7×My0×Mz0+e8×Mz0 2+e9×My0+e10×Mz0+f2 (5)
ΔFz2＝e11×My0 2+e12×My0×Mz0+e13×Mz0 2+e14×My0+e15×Mz0+f3 (6)
wherein, Δ Fx2For compensation of a predetermined relationship between the moments in the y-and z-directions with respect to the force in the x-direction, Δ Fy2Δ Fz for compensation corresponding to a predetermined relationship between the y-axis direction and the z-axis direction of the moment and the y-axis direction of the force2For compensation corresponding to a predetermined relationship between the moments in the y-axis direction and the z-axis direction and the force in the z-axis direction, My0And Mz0For moments in the y-axis direction and the z-axis direction in the initial solution matrix, ei″Is a coefficient, i ″, 1, 2, …, 15, f1、f2、f3Is a constant term.
Preferably, after the force in the initial solution matrix is compensated according to the preset relationship between the force and the moment, the method for compensating the force in the initial solution matrix comprises the following steps:
Fx＝Fx0+ΔFx1+ΔFx2 (7)
Fy＝Fy0+ΔFy1+ΔFy2 (8)
Fz＝Fz0+ΔFz1+ΔFz2 (9)
the Fx is a force in the x-axis direction in the final generalized solving matrix, the Fy is a force in the y-axis direction in the final generalized solving matrix, and the Fz is a force in the z-axis direction in the final generalized solving matrix; fx0For the initial solution of the force in the x-direction, Fy, of the matrix0For the initial solution of the force in the direction of the y-axis in the matrix, Fz0Solving the force in the direction of the z axis in the matrix for the initial time; Δ Fx1、ΔFy1、ΔFz1Can be obtained by a first preset relation；ΔFx2、ΔFy2、ΔFz2Can be obtained by a second predetermined relationship.
Preferably, the predetermined relationship between the torque and the torque is:
Mx＝Mx0+g1×My0 2+g2×My0×Mz0+g3×Mz0 2+g4×My0+g5×Mz0+h1 (10)
My＝My0+g6×Mx0 2+g7×Mx0×Mz0+g8×Mz0 2+g9×Mx0+g10×Mz0+h2 (11)
Mz＝Mz0+g11×Mx0 2+g12×Mx0×My0+g13×My0 2+g14×Mx0+g15×My0+h3 (12)
wherein Mx is the moment in the direction of the x axis in the final generalized solution matrix, My is the moment in the direction of the y axis in the final generalized solution matrix, and Mz is the moment in the direction of the z axis in the final generalized solution matrix; mx0For the initial solution of the moment in the x-axis direction, My0Resolving the y-axis direction of the moment, Mz, in the matrix for initial solution0For the initial solution of the z-axis direction moment, g, in the matrixtIs coefficient, t is 1, 2, …, 15, h1、h2、h3Is a constant term.
Has the advantages that:
1. according to the invention, the compensation of the moment and the force in the initial calculation matrix is realized by setting the preset relation between the moment and the force and the preset relation between the moment and the moment, so that the measurement precision is improved.
2. When the preset relation between the moment and the force is analyzed, the influence of the moment generating the main influence on the forces in different directions is considered for compensation, and the influence of the moment generating the secondary influence on the forces in different directions is also considered for compensation. The method can enable the measurement result to be more accurate.
Drawings
FIG. 1 is a schematic diagram of the construction of a six-dimensional force sensor of the present invention;
FIG. 2 is a schematic flow diagram of a method of the present invention for compensating a six-dimensional force sensor;
FIG. 3 is a schematic flow chart illustrating the process of compensating for forces in the initial solution matrix using a predetermined relationship between torque and force according to the present invention.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings and two embodiments.
The invention provides a method for compensating a six-dimensional force sensor, and a flow chart is shown in figure 2, and the method specifically comprises the following steps:
step one, obtaining an initial settlement matrix
The initial resolving moment includes six elements, which are three forces in different directions and three moments in different directions. Such as the force in three directions being in an orthogonal relationship; the moments in the three directions are in an orthogonal relationship. Fig. 1 is a schematic structural diagram of a six-dimensional force sensor according to an embodiment of the present disclosure. Force F, moment M, x axis, y-axis, and z-axis are shown by way of example.
The calculation formula of the initial resolving matrix is as follows:
F6×1＝C6×6×ΔUsensitivity 6X 1 (13)
Wherein, F6×1For initially solving a matrix and
Figure BDA0002335511700000051
Fx0、Fy0and Fz0Representing forces in the x-, y-and z-axis directions in the initial solution matrix, Mx0、My0And Mz0Initially resolving moments in the directions of an x axis, a y axis and a z axis in a matrix;
C6×6to calibrate the matrix and
Figure BDA0002335511700000052
C11、C22、C33、C44、C55、C66is the calibration matrix constant;
Figure BDA0002335511700000061
ΔUsensitivity 6X 1Is the sensor voltage difference and Δ USensitivity of the probe＝ULoad i-U0i，
Figure BDA0002335511700000062
Output reference voltage for sensor zero, ULoad iThe data are acquired by a sensor, and i is 1-6;
and (3) further evolving the formula (1), and obtaining a specific formula of the initial solution matrix as follows:
Figure BDA0002335511700000063
and step two, as shown in fig. 2, compensating the force in the initial resolving matrix by using a preset relationship between the moment and the force determined by the difference between the value of the initial resolving matrix of the six-dimensional force sensor and the calibration force value, and compensating the moment in the initial resolving matrix by using a preset relationship between the moment and the moment determined by the difference between the value of the initial resolving matrix of the six-dimensional force sensor and the calibration force value to obtain a final generalized resolving matrix, thereby improving the resolving progress of the six-dimensional force sensor.
As shown in fig. 3, in step two, the final generalized solution matrix includes 6 elements, which are force in three directions and moment in three directions. Compensating the force in the initial resolving matrix by using a preset relation between the moment in the initial resolving matrix and the force in the initial resolving matrix to obtain the force in the final generalized resolving matrix; and compensating the moments in the initial resolving matrix by using the preset relation between the moments in the initial resolving matrix to obtain the moments in the final generalized resolving matrix. In this embodiment, the force in the initial solution matrix may be compensated by using the preset relationship between the moment in the initial solution matrix and the force in the initial solution matrix to obtain the force in the final generalized solution matrix, and then the moment in the initial solution matrix may be compensated by using the preset relationship between the moments in the initial solution matrix to obtain the moment in the final generalized solution matrix; or, the moment in the initial calculation matrix is compensated by using the preset relationship between the moments in the initial calculation matrix to obtain the moment in the final generalized calculation matrix, and the force in the initial calculation matrix is compensated by using the preset relationship between the moment in the initial calculation matrix and the force in the initial calculation matrix to obtain the force in the final generalized calculation matrix.
The specific implementation method comprises the following steps:
A. compensating the force in the initial resolving matrix by using a preset relation between the moment in the initial resolving matrix and the force in the initial resolving matrix to obtain the force in the final generalized resolving matrix; the preset relationship comprises a first preset relationship and a second preset relationship, the first preset relationship is a preset relationship between a moment in a certain direction and forces in the x-axis direction, the y-axis direction and the z-axis direction, and the moment in the single direction mainly influences the calculation of the forces in the certain direction, and can reflect the influence of the moment in the single direction on the forces in the single direction. In practical application, a certain axis can be selected according to a practical application analysis scene, and the influence of the moment in the axis direction on the calculation of the forces in the x-axis direction, the y-axis direction and the z-axis direction is analyzed. For example, selecting a moment in the x-axis direction has a major effect on the resolution of the forces in the x-axis direction, the y-axis direction, and the z-axis direction; or selecting the moment in the y-axis direction to generate main influence on the calculation of the forces in the x-axis direction, the y-axis direction and the z-axis direction; and the moment in the z-axis direction is selected to have a main influence on the calculation of the forces in the x-axis direction, the y-axis direction and the z-axis direction.
The second preset relationship is a preset relationship between the moment in one or two directions and the forces in the x-axis direction, the y-axis direction and the z-axis direction, which have secondary influence on the calculation of the force in a certain direction, and can reflect the influence of the moment in one or two directions on one of the forces. Similarly, the second preset relationship is selected and analyzed when calculating, and the influence of the directional moment corresponding to one or more axes other than the axis selected in the first preset relationship on the calculation of the forces in the x-axis direction, the y-axis direction and the z-axis direction is respectively analyzed. For example, selecting the y-axis direction and the z-axis direction of the moment affects the x-axis direction, the y-axis direction, and the z-axis direction of the force; or selecting the moments in the x-axis direction and the z-axis direction to affect the forces in the x-axis direction, the y-axis direction and the z-axis direction. And the force in the x-axis direction, the y-axis direction and the z-axis direction is influenced by selecting the moment in the y-axis direction and the moment in the x-axis direction.
Firstly, according to a first preset relation, the force in the initial resolving matrix to be compensated is obtained. The present embodiment will be described by taking as an example only an example that the moment in the x-axis direction has a major influence on the calculation of the forces in the x-axis direction, the y-axis direction, and the z-axis direction. The first predetermined relationship is:
Figure BDA0002335511700000081
Figure BDA0002335511700000082
Figure BDA0002335511700000083
wherein, Δ Fx1Δ Fy1 is a compensation corresponding to a predetermined relationship between the moment in the x-axis direction and the force in the y-axis direction, Δ Fz1For compensation corresponding to a predetermined relationship between the moment in the x-axis direction and the force in the z-axis direction, Mx0For the moment, k, in the direction of the x-axis in the initial solution matrixi′(i ═ 1 to 9) are coefficients, d1、d2、d3Is a constant term.
And then, according to the second preset relation, obtaining the force in the initial resolving matrix to be compensated. Since the force in the x-axis direction, the y-axis direction and the z-axis direction is selected to be calculated by the moment in the x-axis direction when the first preset relationship is obtained in the above embodiment, the force in the x-axis direction, the y-axis direction and the z-axis direction is influenced by the moment in the y-axis direction and the z-axis direction when the second preset relationship is obtained.
The second predetermined relationship is:
ΔFx2＝e1×My0 2+e2×My0×Mz0+e3×Mz0 2+e4×My0+e5×Mz0+f1； (18)
ΔFy2＝e6×My0 2+e7×My0×Mz0+e8×Mz0 2+e9×My0+e10×Mz0+f2； (19)
ΔFz2＝e11×My0 2+e12×My0×Mz0+e13×Mz0 2+e14×My0+e15×Mz0+f3； (20)
wherein, Δ Fx2For compensation of a predetermined relationship between the moments in the y-and z-directions with respect to the force in the x-direction, Δ Fy2Δ Fz for compensation corresponding to a predetermined relationship between the y-axis direction and the z-axis direction of the moment and the y-axis direction of the force2For compensation corresponding to a predetermined relationship between the moments in the y-axis direction and the z-axis direction and the force in the z-axis direction, My0And Mz0For moments in the y-axis direction and the z-axis direction in the initial solution matrix, ei″(i ″ -1 to 15) is a coefficient, f1、f2、f3Is a constant term.
The forces in the final generalized solution matrix are then:
Fx＝Fx0+ΔFx1+ΔFx2； (21)
Fy＝Fy0+ΔFy1+ΔFy2； (22)
Fz＝Fz0+ΔFz1+ΔFz2；； (23)
the Fx is a force in the x-axis direction in the final generalized solving matrix, the Fy is a force in the y-axis direction in the final generalized solving matrix, and the Fz is a force in the z-axis direction in the final generalized solving matrix; fx0For the initial solution of the force in the x-direction, Fy, of the matrix0For the initial solution of the force in the direction of the y-axis in the matrix, Fz0Solving the force in the direction of the z axis in the matrix for the initial time; Δ Fx1、ΔFy1、ΔFz1The first preset relation can be obtained; Δ Fx2、ΔFy2、ΔFz2Can be obtained by a second predetermined relationship.
B. The preset relation between the moments in the initial resolving matrix is as follows:
Mx＝Mx0+g1×My0 2+g2×My0×Mz0+g3×Mz0 2+g4×My0+g5×Mz0+h1 (24)
My＝My0+g6×Mx0 2+g7×Mx0×Mz0+g8×Mz0 2+g9×Mx0+g10×Mz0+h2 (25)
Mz＝Mz0+g11×Mx0 2+g12×Mx0×My0+g13×My0 2+g14×Mx0+g15×My0+h3 (26)
wherein Mx is the moment in the direction of the x axis in the final generalized solution matrix, My is the moment in the direction of the y axis in the final generalized solution matrix, and Mz is the moment in the direction of the z axis in the final generalized solution matrix; mx0For the initial solution of the moment in the x-axis direction, My0Resolving the y-axis direction of the moment, Mz, in the matrix for initial solution0For the initial solution of the z-axis direction moment, g, in the matrixt(t is 1 to 15) is a coefficient, h1、h2、h3Is a constant term.
The method finally realizes the compensation of the force and the moment in the initial settlement matrix and improves the measurement precision.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A method for compensating a six-dimensional force sensor is characterized in that an initial resolving matrix consisting of six elements of force and moment in the directions of an x axis, a y axis and a z axis is obtained;
determining a preset relation between the force and the moment according to the difference between the value of the initial resolving matrix of the six-dimensional force sensor and the value of the calibration force; substituting the elements obtained in the initial resolving matrix into a preset relation to obtain the compensation amount of the force, and compensating the force in the initial resolving matrix;
determining a preset relation between the moment and the moment according to the difference between the value of the initial resolving matrix of the six-dimensional force sensor and the calibration force value; substituting the elements obtained from the initial resolving matrix into a preset relation to obtain the compensation amount of the moment; compensating the moment in the initial resolving matrix;
the preset relations between the force and the moment comprise a first preset relation and a second preset relation, wherein the first preset relation reflects the influence relation of the main influence moment on the force in the directions of the x axis, the y axis and the z axis; the second preset relation is the influence relation of the reaction time influence moment on the forces in the directions of the x axis, the y axis and the z axis; the main influence moment and the secondary influence moment are determined according to an actual application analysis scene.
2. The method of claim 1, wherein the initial solution matrix is obtained from a product of a preset calibration matrix and a difference in sensitivity voltage of the sensor.
3. The method according to claim 1, wherein when the first preset relationship is obtained, the moment in the x-axis direction is used as a main influence moment, and the influence relationship of the moment in the x-axis direction on the forces in the x-axis, y-axis and z-axis directions is solved, so that the first preset relationship is as follows:
Figure FDA0003158225800000011
Figure FDA0003158225800000012
Figure FDA0003158225800000013
wherein, Δ Fx1Δ Fy, which is the influence of the moment in the x-axis direction on the force in the x-axis direction1Δ Fz, which is the influence of the moment in the x-axis direction on the force in the y-axis direction1Mx, the influence of the moment in the x-axis direction on the force in the z-axis direction0For the moment, k, in the direction of the x-axis in the initial solution matrixi′Is a coefficient, i ═ 1, 2, …, 9, d1、d2、d3Is a constant term.
4. The method according to claim 3, wherein when the second preset relationship is obtained, the moments in the y-axis direction and the z-axis direction are used as secondary influence moments, and the influence relationships of the moments in the y-axis direction and the z-axis direction on the forces in the x-axis direction, the y-axis direction and the z-axis direction are solved, so that the second preset relationship is:
ΔFx2＝e1×My0 2+e2×My0×Mz0+e3×Mz0 2+e4×My0+e5×Mz0+f1 (4)
ΔFy2＝e6×My0 2+e7×My0×Mz0+e8×Mz0 2+e9×My0+e10×Mz0+f2 (5)
ΔFz2＝e11×My0 2+e12×My0×Mz0+e13×Mz0 2+e14×My0+e15×Mz0+f3 (6)
wherein, Δ Fx2Δ Fy is the influence of the moments in the y-axis and z-axis directions on the force in the x-axis direction2Δ Fz is the influence of the y-axis and z-axis moments on the y-axis force2My is the influence relationship of the moments in the y-axis direction and the z-axis direction on the force in the z-axis direction0And Mz0For moments in the y-axis direction and the z-axis direction in the initial solution matrix, ei″Is a coefficient, i ″, 1, 2, …, 15, f1、f2、f3Is a constant term.
5. The method of claim 1, wherein after compensating the forces in the initial solution matrix based on the predetermined relationship between the forces and the moments, the method of compensating the forces in the initial solution matrix is:
Fx＝Fx0+ΔFx1+ΔFx2 (7)
Fy＝Fy0+ΔFy1+ΔFy2 (8)
Fz＝Fz0+ΔFz1+ΔFz2 (9)
the Fx is a force in the x-axis direction in the final generalized solving matrix, the Fy is a force in the y-axis direction in the final generalized solving matrix, and the Fz is a force in the z-axis direction in the final generalized solving matrix; fx0For the initial solution of the force in the x-direction, Fy, of the matrix0For the initial solution of the force in the direction of the y-axis in the matrix, Fz0Solving the force in the direction of the z axis in the matrix for the initial time; Δ Fx1、ΔFy1、ΔFz1Respectively are influence relations of the main influence moment on the forces in the directions of the x axis, the y axis and the z axis; Δ Fx2、ΔFy2、ΔFz2The influence relationship of the secondary influencing moment on the forces in the directions of the x axis, the y axis and the z axis is respectively.
6. The method of claim 1, wherein the predetermined relationship between torque and moment is:
Mx＝Mx0+g1×My0 2+g2×My0×Mz0+g3×Mz0 2+g4×My0+g5×Mz0+h1 (10)
My＝My0+g6×Mx0 2+g7×Mx0×Mz0+g8×Mz0 2+g9×Mx0+g10×Mz0+h2 (11)
Mz＝Mz0+g11×Mx0 2+g12×Mx0×My0+g13×My0 2+g14×Mx0+g15×My0+h3 (12)
wherein Mx is the moment in the direction of the x axis in the final generalized solution matrix, My is the moment in the direction of the y axis in the final generalized solution matrix, and Mz is the moment in the direction of the z axis in the final generalized solution matrix; mx0For the initial solution of the moment in the x-axis direction, My0Resolving the y-axis direction of the moment, Mz, in the matrix for initial solution0For the initial solution of the z-axis direction moment, g, in the matrixtIs coefficient, t is 1, 2, …, 15, h1、h2、h3Is a constant term.
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