A method for measuring dynamic performance index of robot's multi-axis wrist force sensor

2005 IEEE International Conference on Information Acquisition Pub Date : 1900-01-01 DOI:10.1109/ICIA.2005.1635076

Zhengshi Liu, Yong Wang, E. Chen, L. Wen, Y. Ge

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引用次数: 2

Abstract

A novel method based correlation wavelet for online dynamic characteristic analysis and measurement of dynamic performance index of robot wrist sensor is developed in this paper. Based on the dynamic model of the force sensor, the simulations on the correlation wavelet method for extracting the IRF of wrist force sensor in two dynamic environments are presented. The simulation results show that the correlation wavelet method exhibits obvious advantages compared with the traditional FFT method, and the accuracy of the results is greatly improved. A test with cantilever under step excitation is carried out, the results obtained by using CWT method show that the method is effective and accurate. The way for generating step excitation automatically in robotic use is proposed for on-line dynamic characteristic analysis and measurement of dynamic performance index of robot wrist sensor. An example is given to illustrate the feature of the method. The method developed in the paper provides a new and effective way to measure the dynamic performance index of robot wrist force sensor, as well as other sensors.

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机器人多轴腕力传感器动态性能指标的测量方法

提出了一种基于相关小波的机器人腕部传感器动态特性在线分析和动态性能指标测量方法。基于力传感器的动态模型，对两种动态环境下提取腕部力传感器红外场的相关小波方法进行了仿真。仿真结果表明，与传统的FFT方法相比，相关小波方法具有明显的优势，结果的精度大大提高。对悬臂梁进行了阶跃激励试验，结果表明该方法是有效和准确的。针对机器人手腕传感器动态性能指标的在线分析和测量，提出了机器人使用中自动产生阶跃激励的方法。最后通过实例说明了该方法的特点。本文提出的方法为测量机器人腕力传感器以及其他传感器的动态性能指标提供了一种新的、有效的方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2005 IEEE International Conference on Information Acquisition

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