http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-107433590-B
Outgoing Links
| Predicate | Object |
|---|---|
| classificationCPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1638 |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J9-16 |
| filingDate | 2017-07-31-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| grantDate | 2020-08-18-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationDate | 2020-08-18-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | CN-107433590-B |
| titleOfInvention | Gravity compensation method based on mechanical arm load mass and sensor null shift online identification |
| abstract | The invention provides a gravity compensation method for online identification of load mass of a mechanical arm and null shift of a sensor, which comprises the following steps: s1: acquiring and identifying the mass center and the mass of a load at the tail end of the mechanical arm by adopting a load mass center mass identification module to obtain the identification mass center and the identification mass of the load; s2: reading the value of the sensor by adopting a sensor null shift identification module, and calculating according to the identification mass center and the identification quality to obtain the sensor null shift; s3: and performing gravity compensation on the numerical value of the sensor by adopting a gravity compensation module according to the sensor null shift. The method can solve the problems that additional force and moment are introduced to a six-dimensional force sensor at the tail end due to the influence of gravity on the tail end load of the mechanical arm, the final force control effect is influenced due to the inaccurate numerical value of the sensor caused by the zero drift error of the sensor, and the like, and the requirement of the sensor needing online identification is determined due to the uncertainty of the zero drift of the sensor. |
| priorityDate | 2017-07-31-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
| Predicate | Subject |
|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID422707724 http://rdf.ncbi.nlm.nih.gov/pubchem/protein/ACCP27058 http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID25078152 |
Total number of triples: 13.