六维腕力传感器阶跃响应的实验建模

EXPERIMENTAL MODELING OF SIX-AXIS WRIST FORCE SENSOR BASED ON STEP RESPONSES

摘要: 基于阶跃响应法的动态标定实验数据，采用系统辨识方法建立机器人六维腕力传感器6个转换通道的动态数学模型，确定频域性能指标，全面、准确地描述传感器的动态特性．

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.