摘要
耦合误差严重影响着六维力传感器的精度,标定试验的准确性对提高六维力传感器的精度也是必不可少的。针对传感器输出电压正负方向拟合函数不同提出了一种基于耦合误差和分段拟合建模的六维力传感器解耦算法。用十字梁结构的传感器进行标定试验,将得到的标定数据应用于解耦算法中。通过标定数据验证了基于耦合误差和分段拟合的静态解耦算法性能的优越性。
The static coupling to six-axis force sensor is a key factor to its precision. The accuracy of the calibration test is also indispensable for improving the precision of six-axis force sensor. Against the difference of sensor output voltage of positive and negative direction fitting function, a static decoupling algorithm of six-axis force sensor is proposed based on coupling error and piecewise fitting model. A large number calibration data obtained in calibration test of cross beam structure sensor are used in static decoupling algorithm. Finally, the calibration test results of this static decoupling algorithm verify the superior performance of coupling error and piecewise fitting- based static decoupling algorithm.
出处
《传感技术学报》
CAS
CSCD
北大核心
2013年第6期851-856,共6页
Chinese Journal of Sensors and Actuators
基金
虚拟现实中基于图像的纹理力触觉表达与再现方法研究项目(61272379)
关键词
六维力传感器
静态解耦算法
标定
分段拟合
six-axis force sensor
static decoupling algorithm
calibration
piecewise fitting
