External Forces/Torques Perception of Robot Endeffector Tip Based on a 6-axis Force Sensor

In this paper, an automatic identification program of force perception parameters (including gravity and centroid of the end-effector, the installation angels of the manipulator) is developed with the use of a 6-axis force/torque sensor. Then the identified parameters are used in forces/torques sensor data processing algorithm, which consists of filtering and zeroing, gravity compensation, coordinate transformation, and dead zone process, to obtain accurate external forces/torques information on end-effector tip. The experiments for testing the accuracy of parameters identification and the dynamic performance of force perception are carried out.