与环境非弹性碰撞时腕力传感器的动态特性分析

ANALYSIS FOR DYNAMIC BEBAVIORS OF ROBOT WRIST FORCE SENSOR FOLLOWING THE NON-ELASTIC COLLISION WITH ENVIKONMENT

摘要: 本文着重分析了与环境发生非弹性碰撞时腕力传感器的动态特性，研究表明，接触环境刚度不同，碰撞后的运动情形也不同．当环境刚度较大时，末端效应器与环境的接触会出现“跳动”现象．因此，根据传感器的实际输出响应，可以判断接触环境的性质以便于控制决策的实施．此外，文中还讨论了输出误差的数值微分补偿方法．

Abstract: This paper analyzes mainly the dynamic behaviors following the non-elastic collision with envi-ronment.The research results show that the motion situation after the collision is different if the stinness of the contact environment is different.If the stiffness of the environment is larger than that of the force sen-sor,there exists a jump contact.Therefore,according to the virtual output signal of the sensor,the charac-teristics of the contact environment can be judged so as to make adequate decision.Besides,numerical differ-ential compensation method of the output error is also studied.