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Model Calibration for a Rigid Hexapod-Based End-Effector with Integrated Force Sensors.

Christian Friedrich¹, Steffen Ihlenfeldt¹

¹Chair of Machine Tools and Adaptive Controls, Institute of Mechatronic Engineering, TU Dresden, Helmholtzstrasse 7a, 01069 Dresden, Germany.

Sensors (Basel, Switzerland)

|June 2, 2021

Summary

Accurate 6-degree-of-freedom force measurement in hexapod robots is achieved using integrated sensors. This study presents fast calibration methods for force measurement models, compensating for internal forces and ensuring precision during machine operation.

Keywords:

calibration and identification integrated force sensors parallel robots sensor networks

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Area of Science:

Robotics and Mechatronics
Sensor Technology
Control Systems Engineering

Background:

Hexapod robots require precise force measurement for advanced applications.
Integrated single-axis force sensors offer cost-effective 6-degree-of-freedom (6-DOF) force sensing.
Internal forces necessitate compensation via measurement models, whose parameters can drift over time.

Purpose of the Study:

To develop and evaluate fast and efficient parameter identification procedures for force measurement models in hexapod end-effectors.
To compare the effectiveness of quasi-static versus dynamic excitation strategies for model calibration.
To ensure accurate force measurement despite changing model parameters during machine usage.

Main Methods:

Development of measurement and parameter identification models for a rigid hexapod end-effector.
Analysis of parameter sensitivities within the force measurement model.
Optimization and comparison of two excitation strategies: quasi-static poses and accelerated continuous trajectories.
Experimental validation using reference payloads.

Main Results:

Both quasi-static and accelerated trajectory-based excitation strategies enable accurate parameter identification.
Optimized excitation strategies significantly improve the efficiency and accuracy of the calibration procedure.
The proposed methods allow for rapid calibration, suitable for operational machine states.

Conclusions:

Fast and accurate parameter identification for 6-DOF force measurement models in hexapod systems is achievable.
The choice between quasi-static and dynamic excitation can be optimized based on specific application requirements.
The developed calibration procedures are practical for real-world robotic applications, ensuring sustained measurement accuracy.