机器人六维腕力传感器及其信号处理系统的研制

Research on 6D Wrist Force Sensor and Signal Processing System

介绍了一种高精度多功能型的机器人六维腕力传感器及其信号处理系统，对机械手腕部的力／力矩信号进行实时检测，采用１６位单片机实现力解耦及坐标变换，为控制器提供准确的六维力／力矩向量。本系统来用了指令通讯方式，可以完成多种功能，减轻主控机负担。该系统可与各种通用机器人和控制微机连接，具有很好的通用性。

This Paper introduces a 6D wist force sensor and its signal pricessug system with high performance, which provides 6D force/torque vector for controller by real-time measuring the force/torqoc of the wrist. Force decoupling and coordinate transformating are done by 16-bits microprocessor and it can share burden of the host controller.Furthrmore, it can be connected to most of manipulators and computers.