RESEARCH ON DYNAMIC CHARACTERISTICS OF SIX-AXISFORCE SENSOR FOR AERONAUTIC ROBOT
GAO Li-fu1, SONG Ning2, GE Yun-jian2, WANG Guo-tai2, XU Ke-jun3
1. University of Science & Technology of China and Hefei Institute of Intelligent Machines, Chinese Academy of Sciences; 2. Hefei Institute of Intelligent Machines, Chinese Academy of Sciences 230031; 3. Hefei Industry Technology University 230000
高理富, 宋宁, 葛运建, 王国泰, 徐科军. 航天机器人用六维腕力传感器动态特性研究[J]. 机器人, 2002, 24(4): 319-323..
GAO Li-fu, SONG Ning, GE Yun-jian, WANG Guo-tai, XU Ke-jun. RESEARCH ON DYNAMIC CHARACTERISTICS OF SIX-AXISFORCE SENSOR FOR AERONAUTIC ROBOT. ROBOT, 2002, 24(4): 319-323..
Abstract：In this paper we discuss some questions on dynamic characteristics of six-axis force sensor for aeronautic robot,describe the standard of sensor′s dynamic characteristics,use FLANN to design the dynamic compensator and use DSP to realize it. At the end of this paper we give the experiment results. And above all,it is the first time for us to realize dynamic compensation in a real six-axis force sensor.
