| 腕力传感器三维自适应动态补偿方法 |
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| 引用本文： | 徐科军,江敦明.腕力传感器三维自适应动态补偿方法[J].中国机械工程,1997,8(6):40-42,55. |
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| 作者姓名： | 徐科军 江敦明 |
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| 作者单位： | 合肥工业大学!合肥市，230009，合肥工业大学!合肥市，230009，中国科学院合肥智能研究所!合肥市，230031 |
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| 基金项目： | 国家自然科学基金!59375260，机械工业部专项基金!96251001，安徽省自然科学基金!95-电-09 |
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| 摘 要： | 在已有的工作基础上，采用机理分析法和实验建模法，确定传感器极点随负载变化的规律，提出三维自适应动态补偿方法，解决动态补偿器自动跟踪传感器模型变化以及多维动态补偿问题。
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| 关 键 词： | 腕力传感器 多维动态补偿 自适应方法 机器人 |
Three Dimensional Adaptive Dynamic Compensation Method of Wrist Force Sensor |
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| Xu Kejun.Three Dimensional Adaptive Dynamic Compensation Method of Wrist Force Sensor[J].China Mechanical Engineering,1997,8(6):40-42,55. |
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| Authors: | Xu Kejun |
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| Abstract: | Based on our original work, this paper adopts the methods of both mechanism analysis and experimental modelling, and determines the variant patterns between sensor'S poles and applied loads. A three dimensional adaptive dynamic compensation method is proposed and the changes of sensor's model can be followed automatically by the dynamic compensation device therefore the problem of multidimensional dynamic compensation is solved effectively. |
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| Keywords: | wrist force sensor multidimensional dynamic compensation adaptive method robot |
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