多维力传感器迭代动态解耦方法

An Iterative Dynamic Decoupling Method for Multi Axis Force Sensor

在多维力传感器不变性动态解耦方法的基础上，提出了迭代动态解耦方法，可以获得更好的解耦效果，可以解决强耦合问题。仿真和机器人腕力传感器动态解耦的结果证明了该方法的有效性。

An iterative dynamic decoupling method of multi axis force sensor is proposed based on the constance dynamic decoupling method in this paper.This method can get better decoupling effectiveness,and resolve the problem of large decoupling.The dynamic decoupling results of simulation and robot′s wrist force sensor have proved this method effectiveness.