Kompensation des Einflusses eines Mehrfingergreifers auf einen Kraft-Momenten-Sensor

Abstract

This work addresses the analysis and compensation of the force and torque effects of a multi-finger gripper on a force-torque sensor. The gripper and the sensor are attached to a free moving multiple axis industrial robot. The problem to be solved is that external force-torque influences have to be differentiated from internal influences. With respect to all static effects, the components and their constellation are analyzed and calculated according to theoretical modeling through the principles of technical mechanics. Based on this, a general process is developed with which the prevailing forces and torques can be predicted in real time and used for the compensation at each joint angle position. Within the scope of this work a system of a KUKA KR3 6-axis industrial robot, an ATI force-torque sensor mounted on top of it and an SDH2 multi-finger gripper, which in turn is fixed on the latter, with seven degrees of freedom is considered.