Force Perception of Industrial Robot Based on Multi-parameter Coupled Model

The precision force sensing information of industrial robots to the environment is important for high-precision and flexible assembly operations. This paper proposed a calibration and calculation method to the contact force with the data from a six-dimensional force/torque sensor, which is installed between the end of the robot and the end-effector. In the proposed method, a multi-parameter coupled model was considered including the gravity of the end-effector, the zeropoint of the sensor and the installation angle of six-dimensional force/torque sensor. The contact force/torque could be precisely obtained using this model, and the influence of the gravity and zero drift of sensor can be compensated. Experiments were performed with KUKA iiwa. The results show that the force/torque information was more precise with the coupled model.