多维力/力矩传感器静态解耦的研究

Nonlinear Static Decoupling of Multi-axis Force/Torque Sensor

多维力 /力矩传感器的静态耦合是影响其测量精度的主要因素之一。在研究基于最小二乘理论的多维力传感器静态线性解耦方法的同时 ,提出了一种基于 BP神经网络的静态非线性解耦方法。以 HIT灵巧手的微型五维指尖力 /力矩传感器为对象进行了实验 ,结果表明 。

Static coupling of multi-axis force/torque sensor is one of the most important factors affecting its measuring accuracy.The least square theory-based static linear decoupling method is studied,and a new static decoupling method based on BP artificial neural network is proposed.The experimental result on specially designed five-axis force/torque sensor for HIT hand has shown that artificial neural network based decouping method can effectively improve measuring accuracy of the sensor.