基于独立分量分析的六维力传感器标定矩阵的校正

Correction in Calibration Matrix of Six-axis Force Sensor Based on Independent Component Analysis

为了提高六维力传感器的测量精度，提出了一种基于独立分量分析（ICA）的静态标定方法。作用在上平台的各维力经过六维力传感器后形成混合信号，该方法先对混合信号进行ICA分解，即将其分离成独立的分量，再结合理想源信号恢复出各维真实作用力的排序和幅值，最后得出校正后的标定矩阵。仿真结果表明，校正后的标定矩阵更接近标准的标定矩阵，从而提高了六维力传感器的测量精度。

To improve the measurement accuracy of the six-dimensional force sensor, a static calibration method based on independent component analysis （ICA） is proposed. Force acting on the platform forms mixed-signal after the six- dimensional force sensor. Firstly, the mixed-signal is decomposed to separate components with ICA. Then combined with the ideal source signal to recover the real sort and amplitude of the dimensional force, and finally came to the corrected calibration matrix. The simulation results show that, the corrected calibration matrix is closer to the standard one, which improves the measurement accuracy of the six-dimensional force sensor.