公开(公告)号：US08265792B2

公开(公告)日：2012-09-11

申请号：US12760954

申请日：2010-04-15

申请人： Charles W. Wampler, II ,  Robert J. Platt, Jr.

发明人： Charles W. Wampler, II ,  Robert J. Platt, Jr.

IPC分类号： G05B19/04

CPC分类号： G01L5/226 ,  B25J9/1692 ,  B25J15/0009 ,  G01L25/00 ,  G05B2219/39024 ,  G05B2219/40618

摘要： A robotic system includes a dexterous robot having robotic joints, angle sensors adapted for measuring joint angles at a corresponding one of the joints, load cells for measuring a set of strain values imparted to a corresponding one of the load cells during a predetermined pose of the robot, and a host machine. The host machine is electrically connected to the load cells and angle sensors, and receives the joint angle values and strain values during the predetermined pose. The robot presses together mating pairs of load cells to form the poses. The host machine executes an algorithm to process the joint angles and strain values, and from the set of all calibration matrices that minimize error in force balance equations, selects the set of calibration matrices that is closest in a value to a pre-specified value. A method for calibrating the load cells via the algorithm is also provided.

摘要翻译： 机器人系统包括具有机器人接头的灵巧机器人，角度传感器适用于在相应的一个关节处测量关节角度，用于测量在预定姿势期间赋予相应的一个称重传感器的一组应变值的称重传感器 机器人和主机。 主机电连接到称重传感器和角度传感器，并且在预定姿势期间接收关节角度值和应变值。 机器人将一对称重传感器压在一起形成姿势。 主机执行处理关节角度和应变值的算法，并且从力平衡方程中误差最小的所有校准矩阵的集合中，选择一个最接近于一个值的校准矩阵集合到一个预定值。 还提供了一种通过算法校准称重传感器的方法。

公开(公告)号：US20110257784A1

公开(公告)日：2011-10-20

申请号：US12760954

申请日：2010-04-15

申请人： Charles W. Wampler, II ,  Robert J. Platt, JR.

发明人： Charles W. Wampler, II ,  Robert J. Platt, JR.

IPC分类号： G05B19/04 ,  G01L25/00

CPC分类号： G01L5/226 ,  B25J9/1692 ,  B25J15/0009 ,  G01L25/00 ,  G05B2219/39024 ,  G05B2219/40618

摘要： A robotic system includes a dexterous robot having robotic joints, angle sensors adapted for measuring joint angles at a corresponding one of the joints, load cells for measuring a set of strain values imparted to a corresponding one of the load cells during a predetermined pose of the robot, and a host machine. The host machine is electrically connected to the load cells and angle sensors, and receives the joint angle values and strain values during the predetermined pose. The robot presses together mating pairs of load cells to form the poses. The host machine executes an algorithm to process the joint angles and strain values, and from the set of all calibration matrices that minimize error in force balance equations, selects the set of calibration matrices that is closest in a value to a pre-specified value. A method for calibrating the load cells via the algorithm is also provided.

摘要翻译： 机器人系统包括具有机器人接头的灵巧机器人，角度传感器适用于在相应的一个关节处测量关节角度，用于测量在预定姿势期间赋予相应的一个称重传感器的一组应变值的称重传感器 机器人和主机。 主机电连接到称重传感器和角度传感器，并且在预定姿势期间接收关节角度值和应变值。 机器人将一对称重传感器压在一起形成姿势。 主机执行处理关节角度和应变值的算法，并且从力平衡方程中误差最小的所有校准矩阵的集合中，选择一个最接近于一个值的校准矩阵集合到一个预定值。 还提供了一种通过算法校准称重传感器的方法。