English

应用科学学报 ›› 1999, Vol. 17 ›› Issue (1): 39-44.

• 论文 • 上一篇    下一篇

腕力传感器的一种动态解耦方法

徐科军, 殷铭, 张颖   

  1. 合肥工业大学
  • 收稿日期:1997-05-30 修回日期:1998-02-16 出版日期:1999-03-31 发布日期:1999-03-31
  • 基金资助:
    国家自然科学基金、机械工业部高校跨世纪优秀人才专项科研基金和安徽省自然科学基金资助项目

A Kind of Dynamic Decoupling Method for Wrist Force Sensor

XU KEJUN, YIN MING, ZHANG YING   

  1. Hefei University of Technology, Hefei 230009
  • Received:1997-05-30 Revised:1998-02-16 Online:1999-03-31 Published:1999-03-31

PDF

128

被引次数

18

摘要： 提出了一种传感器不变性动态解耦方法.基于动态标定实验,进行传感器动态建模,在离散域设计解耦网络,分别对构造模型和腕力传感器进行解耦,效果良好.该方法简单、实用,是解决多维传感器和复合型传感器研制中关键问题的一种新方法.

关键词: 动态解耦, 腕力传感器, 不变性原理

Abstract: The dynamic coupling is a special problem in the investigations of multi-dimensional force sensor's dynamic characteristic. There is no effective method to solve the dynamic coupling so far. This paper proposes a constance dynamic decoupling method of sensor. Based on the dynamic calibrating experiments, the sensor's dynamic models are set up, the decoupling network is designed in discret domain. Both the constructed models and the wrist force sensor are decoupled, and good effects are obtained. The constance decoupling method is simple and practical, and is a new kind of method for solving key problem of other multi-dimensional sensors and compound types of sensors.

Key words: wrist force sensor, constance principle, dynamic decoupling