EXPERIMENTAL MODELING OF SIX-AXIS WRIST FORCE SENSOR BASED ON STEP RESPONSES
XU Ke-jun1, ZHU Zhi-neng1, LI Cheng2, WANG Guo-tai3, LIU Jia-jun1
1. Hefei University of Technology, Hefei 230009; 2. Beijing Institute of Control Engineering, Beijing 100080; 3. Hefei Institute of Intelligent Machine, the Chinese Academy of Sciences, Hefei 230031
徐科军, 朱志能, 李成, 王国泰, 刘家军. 六维腕力传感器阶跃响应的实验建模[J]. 机器人, 2000, 22(4): 251-255,270..
XU Ke-jun, ZHU Zhi-neng, LI Cheng, WANG Guo-tai, LIU Jia-jun. EXPERIMENTAL MODELING OF SIX-AXIS WRIST FORCE SENSOR BASED ON STEP RESPONSES. ROBOT, 2000, 22(4): 251-255,270..
Abstract：The dynamic mathematical models for six channels for six-axis wrist forc e sensor for robot are setup by the system identification method according to th e experimental data of step response calibrations. The performance indexes of fr equency domain are determined, and the dynamic characteristics of sensor are acc urately described.
