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| On Parameter Identification of a Stewart Platform-based Six-component Force/Torque Sensor |
| WANG Hong-guang1,2, ZHAO Ming-yang1, FANG Li-jin1, ZHANG Bo1, SUI Chun-ping1 |
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. Graduate School of the Chinese Academy of Sciences, Beijing 10004 |
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Abstract This paper presents a large-scale Stewart platform-based six-component force/torque sensor.A force/torque measurement model is established and an optimal objective function based on the inverse kinematics is offered.A novel parameter calibration method,named branch-in-turn calibration,is presented.Based on the developed prototype of the six-component force/torque sensor,experiments have been made.The experimental results show that the branch-in-turn calibration method can effectively identify the structural parameters of the sensor and the measurement accuracy is improved. This method can be applied to parameter calibration of the six-component force/torque sensor with similar structure.
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Received: 09 July 2008
Published: 15 November 2008
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