摘要
作为对常规位置触觉的一种替代，本文展示了在机器人手指尖的根部安装腕力传感器，并利用其测量数据来确定上述位置信息的方法．文中提出了一种带有重力效应补偿的数学模型，并对其解的唯一性和精度进行了论证和分析．最后，还给出了一个采用美国产ＬｏｒｄＦＴ３３５ｘ腕力传感器作为位置触觉的实验结果．
The adaptive compensating method is proposed in this paper according to the dynamic characteristic of wrist force sensor changing with loading conditions. The adaptive dynamic compensator can adjust its parameters by itself to follow the ever changing sensor model, and fast dynamic response is obtained all the time. Two kinds of applied methods are given in this paper. The investigating results show that the adaptive compensating effect is very notable.
出处
《机器人》
EI
CSCD
北大核心
1997年第4期265-270,共6页
Robot
关键词
机器人
腕力传感器
触觉
多指手
Wrist force sensor, dynamic compensation, adaptive method
