摘要
对基于 Stewart平台的六维力 /力矩传感器的雅可比矩阵进行了解析推导 ,用解析的方式求出它的奇异值。并对基于矩阵谱范数的条件数进行了研究 ,得到传感器的各向同性与其结构尺寸间的解析关系 。
Jacobian matrix of the six axis force/torque sensor based on a Stewart platform is analyzed, and singular values are obtained by matrix transform. Relationship between isotropy and frame dimension is derived from analysis of the condition number based on the matrix spectral norm, which provides a better method for evaluation of the performance index and optimization of the framework for the force/torque sensor.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2002年第3期241-244,共4页
Acta Aeronautica et Astronautica Sinica
