触觉传感器的高精度动静态标定技术研究

Research on high-precision dynamic and static calibration technology for tactile sensors

目的:提出了一种触觉传感器的高精度动静态标定方法和装置。方法:装置以STM32单片机为核心处理器,单片机接受上位机发送的指令,控制直线电机运动。力传感模块采集标定过程中的实时力值反馈到单片机,通过处理计算出误差,修正直线电机的位置,直到标定完成。最后计算不确定度。结果:实验结果表明,该装置可以在动态情况下对触觉传感1.000~5.000 N范围内的压向力进行标定。结论:该装置在标定触觉传感器压向力时,标定精度和准确度高,同时考虑到了动态力标定的因素,具有较高的实际应用价值。

Aims:A high-precision dynamic and static calibration method and device for tactile sensors was proposed.Methods:The device used the STM32 microcontroller as the core processor,which received instructions from the upper computer and controlled the motion of the linear motor.The force sensing module collected real-time force values during the calibration process and fed them back to the microcontroller.By processing and calculating the error,the position of the linear motor was corrected until the calibration was completed.Finally,the uncertainty was calculated and analyzed.Results:The experimental results indicated that the device could calibrate the compressive force of tactile sensing in the range of 1.000~5.000 N under dynamic conditions.Conclusions:The device has high calibration precision and accuracy in calibrating the tactile sensor's pressure direction force,taking into account the dynamic force calibration;and has high practical application value.