腕力传感器的一种动态解耦方法

A Kind of Dynamic Decoupling Method for Wrist Force Sensor

提出了一种传感器不变性动态解耦方法．基于动态标定实验，进行传感器动态建模，在离散域设计解耦网络，分别对构造模型和腕力传感器进行解耦，效果良好．该方法简单、实用。

The dynamic coupling is a special problem in the investigations of multi dimensional force sensor's dynamic characteristic. There is no effective method to solve the dynamic coupling so far. This paper proposes a constance dynamic decoupling method of sensor. Based on the dynamic calibrating experiments, the sensor's dynamic models are set up, the decoupling network is designed in discret domain. Both the constructed models and the wrist force sensor are decoupled, and good effects are obtained. The constance decoupling method is simple and practical, and is a new kind of method for solving key problem of other multi dimensional sensors and compound types of sensors.