一种Stewart结构六维力／力矩传感器参数辨识研究  

On Parameter Identification of a Stewart Platform-based Six-component Force/Torque Sensor

作　　者：王洪光[1,2] 赵明扬[1] 房立金[1] 张波[1] 隋春平[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院研究生院,北京100049

出　　处：《机器人》2008年第6期548-553,共6页Robot

摘　　要：介绍了一种大量程Stewart结构六维力/力矩传感器系统.建立了传感器力/力矩测量数学模型,构建了基于运动学逆解的优化目标函数.提出了一种新的参数标定法,称作分支轮换标定法.基于所研发的六维力/力矩传感器系统进行了实验研究,实验结果表明分支轮换法可以有效地辨识出传感器的结构参数,提高了测量精度.该方法可用于类似结构的六维力/力矩传感器参数标定.This paper presents a large-scale Stewart platform-based six-component force/torque sensor. A force/torque measurement model is established and an optimal objective function based on the inverse kinematics is offered. A novel parameter calibration method, named branch-in-turn calibration, is presented. Based on the developed prototype of the six-component force/torque sensor, experiments have been made. The experimental results show that the branch-in-turn calibration method can effectively identify the structural parameters of the sensor and the measurement accuracy is improved. This method can be applied to parameter calibration of the six-component force/torque sensor with similar structure.

关 键 词：STEWART平台 六维力/力矩传感器 分支轮换标定法 参数辨识 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]