Research on Manipulator Weighing Based on Flexible Sensors

At present, the weighing manipulator on the market mostly relies on wrist force sensors, although this kind of sensor can achieve basic functions, but the volume is large, and the deformation generated during work will affect the precise positioning of the robotic arm, thereby limiting the flexibility and accuracy of the manipulator. Therefore, in this paper, a robotic weighing system based on flexible sensors is designed to obtain the mass of objects when the manipulator grasps. Firstly, the basic principle of the sensor is analyzed, and the flexible piezoresistive sensor is selected as the tactile sensor in this paper, and it is calibrated. Secondly, a manipulator weighing experimental platform is built, and the manipulator clamps a series of weights of known quality, and records and collects the corresponding average clamping force data points. Finally, the optimal curve and relationship between the clamping force and the mass are fitted, which provides accurate mass estimation ability for the manipulator.