腕力传感器三维自适应动态补偿方法

Three Dimensional Adaptive Dynamic Compensation Method of Wrist Force Sensor

在已有的工作基础上，采用机理分析法和实验建模法，确定传感器极点随负载变化的规律，提出三维自适应动态补偿方法，解决动态补偿器自动跟踪传感器模型变化以及多维动态补偿问题。

Based on our original work, this paper adopts the methods of both mechanism analysis and experimental modelling, and determines the variant patterns between sensor'S poles and applied loads. A three dimensional adaptive dynamic compensation method is proposed and the changes of sensor's model can be followed automatically by the dynamic compensation device therefore the problem of multidimensional dynamic compensation is solved effectively.