| 基于腕力传感器的机器人位置触觉 |
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| 引用本文： | 周学才,李泽湘.基于腕力传感器的机器人位置触觉[J].机器人,1997,19(4):265-270. |
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| 作者姓名： | 周学才 李泽湘 |
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| 作者单位： | 广东工业大学电工系(周学才)，香港科技大学(李泽湘)，北京航空航天大学(张启先) |
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| 摘 要： | 作为对常规位置触觉的一种替代，本文展示了在机器人手指尖的根部安装腕力传感器，并利用其测量数据来确定上述位置信息的方法，文中提出了一种带有重力效应补偿的数学模型，并对其解的唯一性和精度进行了论证和分析，最后，还给出了一个采用美国产ＬｏｒｄＦＴ３３５ｘ腕力传感器作为位置触觉的实验结果。
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| 关 键 词： | 机器人 腕力传感器 触觉 多指手 |
TWO ADAPTIVE METHODS FOR DYNAMIC COMPENSATION OF WRIST FORCE SENSOR |
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| XU Kejun,ZHANG Ying,JIANG Dunming,WANG Guotai.TWO ADAPTIVE METHODS FOR DYNAMIC COMPENSATION OF WRIST FORCE SENSOR[J].Robot,1997,19(4):265-270. |
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| Authors: | XU Kejun ZHANG Ying JIANG Dunming WANG Guotai |
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| Abstract: | The adaptive compensating method is proposed in this paper according to the dynamic characteristic of wrist force sensor changing with loading conditions. The adaptive dynamic compensator can adjust its parameters by itself to follow the ever changing sensor model, and fast dynamic response is obtained all the time. Two kinds of applied methods are given in this paper. The investigating results show that the adaptive compensating effect is very notable. |
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| Keywords: | Wrist force sensor dynamic compensation adaptive method |
| 本文献已被 CNKI 维普 等数据库收录！ |
