Application study on static decoupling algorithms for six-dimensional force sensor

ZHANG Jing-zhu1; GUO Kai2; XU Cheng1

doi:10.13873/j.1000-97872007.12.023

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Application study on static decoupling algorithms for six-dimensional force sensor

更新时间：2025-09-11

- Application study on static decoupling algorithms for six-dimensional force sensor
- Issue 12, Pages: 58-59+62(2007)
- 作者机构：
  
  1. 南京理工大学机械学院
  2. 解放军炮兵学院南京分院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872007.12.023
  CLC： TP212
- Published：2007
- 稿件说明：
移动端阅览
[1]张景柱,郭凯,徐诚.六维力传感器静态解耦算法应用研究[J].传感器与微系统,2007(12):58-59+62.

ZHANG Jing-zhu1, GUO Kai2, XU Cheng1. Application study on static decoupling algorithms for six-dimensional force sensor[J]. 2007, (12): 58-59+62.
[1]张景柱,郭凯,徐诚.六维力传感器静态解耦算法应用研究[J].传感器与微系统,2007(12):58-59+62. DOI： 10.13873/j.1000-97872007.12.023.

ZHANG Jing-zhu1, GUO Kai2, XU Cheng1. Application study on static decoupling algorithms for six-dimensional force sensor[J]. 2007, (12): 58-59+62. DOI： 10.13873/j.1000-97872007.12.023.

摘要

维间耦合是制约六维力传感器测量精度的瓶颈

已成为一个热门研究课题。在分析传统的基于线性标定的静态解耦算法的基础上

提出了一种基于最小二乘线性拟合的静态解耦算法

并基于2种解耦算法开发了基于MATLAB软件的集成解耦模块

通过实例验证了软件的集成解耦功能和新算法的优越性

最后

探讨了制约解耦精度提高的因素。

Abstract

The static coupling of six-dimensional force sensor is a key factor to limiting its measuring precision

it has become a popular direction of study.Under the ground of analyzing static linear calibration decoupling algorithm

a new static decoupling algorithm based on least square linear fitting is presented.Adopting two algorithms

integral decoupling module based on MATLAB is developed

the decoupling function and new algorithm’s superiority are verified by the illustration.The factors to confine decoupling accuracy are discussed at last.

关键词

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references

机器人六维腕力传感器耦合矩阵的确定与摄动分析 [J]. 许德章,吴仲城,葛运建,申飞,戈瑜. 仪器仪表学报 . 2005(01)

多维腕力传感器静态解耦的研究 [J]. 徐科军,李成. 合肥工业大学学报(自然科学版) . 1999(02)

机器人用六维腕力传感器标定研究 [J]. 陈雄标,袁哲俊,姚英学. 机器人 . 1997(01)

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