STUDY ON CALIBRATION OF 6-AXIS WRIST FORCE-SENSORS FOR ROBOT
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摘要: 本文在基于获得最高标定精度的基础上，推导出标定力的选取原则；同时提出了传感器相对干扰矩阵的新概念，在此基础上，建立了一套传感器标定的实验系统，并对笔者研制的六维腕力传感器进行了标定．Abstract: In order to obtain the highest accuracy of calibration, this paper deduces the criterion of selecting calibration force and proposes the new concept of relative interference matrix of sensors. An experimental system for calibrating sensors is discussed and the sensor which was designed and manufactured by the authors is calibrated.
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Keywords:
- axis wrist force sensor /
- calibration /
- system error /
- interference matrix
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6 杨克勋,包学游编.矩阵分析.哈尔滨工业大学出版社,1988
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