摘要
六维力传感器的静态标定是其在智能机器人应用中准确测量的前提,以双E型膜弹性体六维力传感器为例,设计了静态标定试验,测试了6路静态标定数据,计算并分析了其静态性能指标;并通过采用最小二乘方法进行拟合,得到了维间耦合关系斜率矩阵﹒这是六维力传感器通过耦合分析来进一步提高精度的必要途径﹒
The static calibration of Six-axis force sensor is the premise of accurate measurement in the application of intelligent robot.Taking the double-E elastomer Six-axis force sensor as an example the static calibration test is designed,and the static calibration data of six roads are tested,and the static performance index is calculated and analyzed.By using the least square method the inter-dimensional coupling relation slope matrix is obtained,which is the necessary way for the Six-axis force sensor to further improve the precision through the coupling analysis.
作者
何飞
胡广宇
双丰
HE Fei;HU Guangyu;SHUANG Feng(College of Information and Electronic Engineering,Hunan City University,Yiyang,Hunan 413000,China;School of Information Science and Technology,University of Science and Technology of China,Hefei,Anhui 230027,China;Hefei Intelligent Machinery Research Institute,China Academy of Sciences,Hefei,Anhui 230031,China)
出处
《湖南城市学院学报（自然科学版）》
CAS
2018年第4期56-61,共6页
Journal of Hunan City University:Natural Science
基金
国家自然科学基金项目(61473272
61403362)
关键词
六维力传感器
静态标定试验
静态性能指标
最小二乘拟合
维间耦合关系斜率矩阵
six-axis force sensor
static calibration test
static performance index
least squares fitting
inter-dimensional coupling relation slope matrix
