六维力/力矩传感器静态解耦算法的研究与应用

Research and Application of Static Decoupling Algorithm for Six-Axis Force / Torque Sensor

维间耦合是影响多维力/力矩传感器测量精度的一个主要因素。介绍了六维力/力矩传感器维间耦合的基本原理,在研究基于求解矩阵广义逆的静态解耦算法的基础上,提出了基于耦合误差建模的静态解耦算法。以实验室研制的六维力/力矩传感器为例进行标定实验,用两种解耦算法对其进行解耦计算。实验结果证明基于耦合误差建模的静态解耦算法的有效性。

Static coupling is one of the most important factors affecting the measuring accuracy of multi-axis force /torque sensor. This paper introduces the principle of six-axis force / torque sensor＇s couple. The decoupling algorithm based on solving generalized inverse matrix is studied,and a new static decoupling algorithm based on coupling error modeling is proposed. The experimental results on the six-axis force / torque sensor designed by the lab show that the novel algorithm is effective.