腕力传感器动态特性中关键问题的研究  

Investigation of Key Problems in the Dynamic Characteristic of Wrist Force/Torque Sensor

作　　者：徐科军[1,2] 张颖[1,2] 江敦明[1,2] 殷铭 张崇巍[1,2] 王国泰 

机构地区：[1]合肥工业大学自动化所 [2]中国科学院合肥智能机械研究所

出　　处：《计量学报》1997年第4期263-269,共7页Acta Metrologica Sinica

基　　金：国家自然科学基金;机械工业部专项基金;安徽省自然科学基金

摘　　要：腕力传感器的动态特性至关重要，动态建模、解耦和补偿是其中三个最为关键的问题。本文解决了动态响应时间归一化的问题，将沃尔什变换方法实用于传感器动态建模。提出传感器不变性动态解耦方法，设计解耦网络，减小各方向之间的动态干扰。分别用系统辨识方法和零极点配置方法设计动态补偿环节，用数字信号处理器实现动态补偿器，提高传感器动态响应的快速性。The dynamic characteristic of wrist force/torque sensor is very important, in which the dynamic modelling, decoupling and compensating are most key problems. The paper resolves the problem about time normalization of dynamic response, and applies Walsh transform method to sensor's dynamic modelling. It proposes a constance dynamic decoupling method for sensor, and designs decoupling network. The dynamic disturbance among various directions is reduced. It designs the dynamic compensating units by adopting methods of the system identification and the pole-zero disposition, and accomplishes the dynamic compensating devices with the digital signal processor. The dynamic response time of wrist force/torque sensor is shorten.

关 键 词：腕力传感器 建模 解耦 动态补偿 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]