In order to improve the measuring precision of the sensor

the constructing method of the six-dimensions force sensor’s calibration matrix is studied.First

the physical meaning of the traditional calibration matrix is shown.The formula of coordination transformation is applied to traditional calibration matrix

and a new way of the six-dimensions force sensor’s static calibration is given that considers position

attitude and the proportional converting relation of the coordinate frame’s scalar.Basing on the calibration experimentation

the calibration matrix is constructed

and the measuring data are compensated.The error analysis shows that the compensated precision is slightly lower than the traditional calibration method

when there isn’t transferring system error in the measuring system.But compensated precision isn’t changing

when there is transferring system erros the measuring precision of the traditional calibration method is apparently descension.The method can remove the transferring system error.