METHOD AND APPARATUS FOR CALIBRATING TRANSFORMATION MATRIX OF FORCE SENSOR

摘要

The force sensor (12) is attached between a wrist (IOC) and a head (13) of a robot and a standard work (weight) is attached to the hand. Each driving source of the robot is then made operative in response to commands from a control unit to sequentially change the posture of the force sensor. A force consisting of a force and moment due to an arithmetic operation by the control unit is then obtained from the posture and position information detected by encoders. The control unit also receives a strain voltage detected by the force sensor and calculates a transformation matrix of the force sensor in accordance with a predetermined arithmetic logic equation. The transformation matrix is stored on a memory and then calibrated.