摘要
本文采用基于快速傅里叶变换的频谱分析方法，研究机器人多维腕力传感器的动态特性，计算其幅、相频特性，确定固有频率和阻尼比，探讨频率特性的计算方法和检验方法。
The dynamic characteristic of robotistic multi-axes force sensor is investigated by using the frequency spectrum analysis based on FFT in this paper- The amplitude-frequen- cy characteristic and phase-frequency characteristic are calculated- The natural requency and damping ratio are determined. The computing methods and checking methods are discussed.
出处
《电子测量与仪器学报》
CSCD
1997年第2期58-63,共6页
Journal of Electronic Measurement and Instrumentation
基金
国家自然科学基金
关键词
多维腕力传感器
动态特性
频谱分析
机器人
腕部
Multi-axes force sensor
Dynamic characteristic
Frequency spectrum analysis
Amplitude-frequency characteristic
Phase-frequency characteristic
Natural frequency
