| 摘要 |
PROBLEM TO BE SOLVED: To calibrate load cells via an algorithm.SOLUTION: An embodiment comprises robotic joints, angle sensors 15 adapted for measuring joint angles 15 at a corresponding one of the joints, and load cells 18 for measuring a set of strain values imparted to a corresponding one of the load cells 18 during a predetermined pose of a robot 10. A host machine is electrically connected to the load cells 18 and the angle sensors, and receives the joint angle values and the strain values during the predetermined pose. The robot 10 presses mating pairs of load cells 18 to each other to form the predetermined pose. The host machine executes an algorithm 100 to process the joint angles and the strain values; and, from the set of all calibration matrices that minimize errors in force balance equations, selects the set of calibration matrices closest to a pre-specified value. |
