航天机器人用六维腕力传感器动态特性研究

RESEARCH ON DYNAMIC CHARACTERISTICS OF SIX-AXISFORCE SENSOR FOR AERONAUTIC ROBOT

本文主要论述航天机器人用六维腕力传感器动态特性的相关问题 .讨论了传感器动态性能的标准问题 ,给出了该传感器动态补偿器的设计方法 ,对实现中的一些问题进行了初步探讨 ,最后给出实际的测试结果 .值得一提的是 ,这是我们首次在传感器实际应用中实现了动态补偿 ,为传感器动态性能的提高迈出了坚实的步伐 .

In this paper we discuss some questions on dynamic characteristics of six-axis force sensor for aeronautic robot, describe the standard of sensor′s dynamic characteristics, use FLANN to design the dynamic compensator and use DSP to realize it. At the end of this paper we give the experiment results. And above all, it is the first time for us to realize dynamic compensation in a real six-axis force sensor.