多维腕力传感器静态解耦的研究

RESEARCH ON STATIC DECOUPLING FOR MULTI DIMENSIONAL WRIST FORCE SENSOR

传感器的静态耦合是制约多维力传感器测量精度的一个主要因素。文章总结了腕力传感器静态线性解耦的主要研究内容，提出静态非线性耦合问题，探索静态非线性标定方法，给出了一种非线性解耦方法，仿真结果充分证明其有效性。

The static couple of wrist force sensor is one major factor of limiting its measuring precision. The major investigating results of the static linear decoupling are summed in this paper. The problem of static non linear couple is proposed, calibrating methods of static non linearity are studied, and a non linear decoupling method is presented. The simulating results have proved the effectiveness of the non linear decoupling method.