机器人用六维腕力传感器标定研究  

STUDY ON CALIBRATION OF 6 AXIS WRIST FORCE SENSORS FOR ROBOT

作　　者：陈雄标[1] 袁哲俊[1] 姚英学[1] 

机构地区：[1]哈尔滨工业大学

出　　处：《机器人》1997年第1期7-12,共6页Robot

摘　　要：本文在基于获得最高标定精度的基础上，推导出标定力的选取原则；同时提出了传感器相对干扰矩阵的新概念，在此基础上，建立了一套传感器标定的实验系统。In order to obtain the highest accuracy of calibration, this paper deduces the criterion of selecting calibration force and proposes the new concept of relative interference matrix of sensors. An experimental system for calibrating sensors is discussed and the sensor which was designed and manufactured by the authors is calibrated.

关 键 词：六维腕力传感器 标定 智能机器人 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]