Calibration Method for Mechanical Systems Using Force Sensors
Original Publication Date: 1984-Mar-01
Included in the Prior Art Database: 2005-Feb-03
This article describes a method which allows the relative position of two objects to be determined, the system moving one object having force sensors. At first calibration, the ratio K = measured force/displacement (when both objects are in contact) is determined. For the next calibration, the movement is stopped when both objects are in contact and, to compensate for the distance necessary to stop the movement, the measured position is modified by the value: measured force/K. In an example involving a robot, the robot has to take in its gripper a part A whose location is not precise and then to determine the exact location relative to a fixed part B, for instance, to assemble them together. The fixed part B or any other object C precisely located in relation to B is used to stop the motion of A.