本文主要論述航天機(jī)器人用六維腕力傳感器動(dòng)態(tài)特性的相關(guān)問題. 討論了傳感器動(dòng)態(tài)性能的標(biāo)準(zhǔn)問題, 給出了該傳感器動(dòng)態(tài)補(bǔ)償器的設(shè)計(jì)方法, 對(duì)實(shí)現(xiàn)中的一些問題進(jìn)行了初步探討, 最后給出實(shí)際的測(cè)試結(jié)果. 值得一提的是, 這是我們首次在傳感器實(shí)際應(yīng)用中實(shí)現(xiàn)了動(dòng)態(tài)補(bǔ)償, 為傳感器動(dòng)態(tài)性能的提高邁出了堅(jiān)實(shí)的步伐.
關(guān)鍵詞: 六維力傳感器; 動(dòng)態(tài)特性; FLANN; 航天機(jī)器人
Abstract: In th is paperw e discuss some quest ions on dynam ic characterist ics of six2axis fo rce senso r fo r aeronau2 t ic robo t, describe the standard of senso r′s dynam ic characterist ics, use FLANN to design the dynam ic compensato r and use DSP to realize it. A t the end of th is paperw e give the experiment results. A nd above all, it is the first t ime fo r us to realize dynam ic compensat ion in a real six2axis fo rce senso r.
Keywords: six2axis fo rce senso r, dynam ic p roperty, FLANN , aeronaut ic robo t