三维力传感器静态解耦方法的研究  

Research on static decoupling algorithm for 3-axis wrist force sensor

作　　者：周山 刘利平 高建宇 张宝存 Zhou Shan;Liu Liping;Gao Jianyu;Zhang Baocun(College of Artificial Intelligence,North China University of Science and Technology,Tangshan 063210,China;College of Mining Engineering,North China University of Science and Technology,Tangshan 063210,China;Qing Gong College,North China University of Science and Technology,Tangshan 063000,China;Desente(Shenzhen)sensor system engineering Co.,Ltd,Shenzhen 518000,China)

机构地区：[1]华北理工大学人工智能学院,唐山063210 [2]华北理工大学矿业学院,唐山063210 [3]华北理工大学轻工学院,唐山063000 [4]德森特传感系统工程有限公司,深圳518000

出　　处：《电子测量与仪器学报》2020年第8期181-187,共7页Journal of Electronic Measurement and Instrumentation

基　　金：华北理工大学研究生创新项目资助。

摘　　要：维间耦合是影响三维力传感器测量精度的重要因素。针对存在耦合的现象,介绍了三维力传感器维间耦合的基本原理,分析了基于克拉默法,求解矩阵广义逆解耦算法,并对传统基于耦合误差建模的静态解耦算法进行改进,对耦合方向的数据采用牛顿三次插值法进行处理。以自主研制的三维力传感器进行标定实验,采用3种解耦方法进行计算。实验结果表明改进后的基于耦合误差建模解耦算法与传统解耦方法和改进前的方法相比,具有更高的解耦精度。Static coupling is one of the most important factors affecting the measuring accuracy of three-axis force sensor. For the phenomenon of coupling, this paper introduces the principle of three-axis force sensor’s couple.Analysis of two different linear decoupling algorithms, which were based on the Cramer theorem and the least square method. The static decoupling algorithm based on coupling error modeling is improved.Processing the data in the coupling direction using Newton’s cubic interpolation method. The experimental results on the self-developed three-axis wrist force sensor show that the novel algorithm has high precision.

关 键 词：三维力传感器 静态解耦 维间耦合 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]