基于Stewart机构的六维力传感器解耦算法研究  

Study on decoupling algorithm of six-dimensional force sensor based on Stewart

作　　者：盖广洪 高波 

机构地区：[1]陕西电器研究所,陕西西安710025

出　　处：《现代电子技术》2013年第19期145-147,150,共4页Modern Electronics Technique

基　　金：国家自然科学基金资助项目(50975231)

摘　　要：解耦算法的改进是提高六维力传感器计算精度的一个重要方面,在线性标定静态解耦算法的基础上,提出了均值标定矩阵算法,并且制定了该算法优劣的评价标准,即精度检验法和最小条件数法,通过对实际传感器数据的处理,表明该算法得到的标定矩阵其条件数最小,并且计算精度高,可以达到0.5%的水平。The improvement of decoupling algorithm is an important aspect in improving the algorithm precision of six-di- mensional force sensor. Based on linear calibration static decoupling, an algorithm of average calibration matrix is proposed, and the evaluation criterion of the algorithm is made, which includes precision test method and minimum condition number method. Through analyzing the processing of the data obtained from the sensor, the algorithm is indicated to have minimum condition number and high calculation accuracy of 0.5%.

关 键 词：六维力传感器 均值标定矩阵 静态解耦 条件数 

分 类 号：TN911.734[电子电信—通信与信息系统] TP212[电子电信—信息与通信工程]