机器人关节力矩传感器电路与数据采集处理系统设计
|
摘要
具有力控制功能的机器人具有十分重要的学术研究价值和市场发展前景,该类机器人需要传感器灵敏地检测出关节力矩信息为控制系统提供准确的反馈信息。提出了一种力控机械臂关节力矩传感器电路和数据采集处理系统的设计方案。该方案在尽量简化硬件复杂度的原则上,采用并联补偿的方式抑制零漂,利用温度传感器修正温漂偏差,得到精确的传感器信息;此外,基于卡尔曼滤波算法的预测功能,对传感器的测量值进行了全局优化估计,提高了传感器的测量精度。最后,设计了传感器的原理样机和测试平台,验证了系统设计的有效性。
Robots with force control function have important academic research value and market development prospects. These robots need sensors to sensitively detect joint torque information and provide accurate feedback information for the control system. A design scheme of force-controlled robot arm joint torque sensor circuit and data acquisition and processing system was proposed. In the principle of simplifying the hardware complexity as much as possible, the scheme used parallel compensation to suppress zero drift, and the temperature sensor was used to correct the temperature drift deviation to obtain accurate sensor information. In addition, based on the prediction function of the Kalman filter algorithm, the measured values were globally optimized to improve the measurement accuracy of the sensor. Finally, the principle prototype and test platform of the sensor were designed to verify the effectiveness of the system design.
Robots with force control function have important academic research value and market development prospects. These robots need sensors to sensitively detect joint torque information and provide accurate feedback information for the control system. A design scheme of force-controlled robot arm joint torque sensor circuit and data acquisition and processing system was proposed. In the principle of simplifying the hardware complexity as much as possible, the scheme used parallel compensation to suppress zero drift, and the temperature sensor was used to correct the temperature drift deviation to obtain accurate sensor information. In addition, based on the prediction function of the Kalman filter algorithm, the measured values were globally optimized to improve the measurement accuracy of the sensor. Finally, the principle prototype and test platform of the sensor were designed to verify the effectiveness of the system design.
引文
[1] 戈瑜,吴仲城,葛运建.面向应用需求的力/力矩传感器技术发展动向[J].机器人,2003,25(2):188-192.
[2] 张洪润.传感器技术大全[M].北京:北京航空航天大学出版社,2007.
[3] 廖丽媛.基于应变式扭矩传感器的测量系统的设计[D].上海:东华大学,2013.
[4] 文西芹,张永忠.扭矩传感器的现状与发展趋势[J].仪表技术与传感器,2001(12):1-3.
[5] 胡德福.应变式扭矩传感器的设计技术[J].船舶工程,2011,33(4):96-99.
[6] 王剑.力/力矩传感器在仿人机器人运动控制中的应用研究[D].北京:国防科学技术大学,2003.
[7] 朱目成,王雅萍.关于应变式传感器零点温度补偿的探讨[J].西南科技大学学报,1994,9(2):10-15.
[8] Kalman R E.A new approach to linear filtering and prediction problems[J].Journal of Basic Engineering,1960,82(1):35-45.
[2] 张洪润.传感器技术大全[M].北京:北京航空航天大学出版社,2007.
[3] 廖丽媛.基于应变式扭矩传感器的测量系统的设计[D].上海:东华大学,2013.
[4] 文西芹,张永忠.扭矩传感器的现状与发展趋势[J].仪表技术与传感器,2001(12):1-3.
[5] 胡德福.应变式扭矩传感器的设计技术[J].船舶工程,2011,33(4):96-99.
[6] 王剑.力/力矩传感器在仿人机器人运动控制中的应用研究[D].北京:国防科学技术大学,2003.
[7] 朱目成,王雅萍.关于应变式传感器零点温度补偿的探讨[J].西南科技大学学报,1994,9(2):10-15.
[8] Kalman R E.A new approach to linear filtering and prediction problems[J].Journal of Basic Engineering,1960,82(1):35-45.