| 一种Stewart结构六维力／力矩传感器参数辨识研究 |
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| 引用本文： | 王洪光,赵明扬,房立金,张波,隋春平.一种Stewart结构六维力／力矩传感器参数辨识研究[J].机器人,2008,30(6):1. |
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| 作者姓名： | 王洪光 赵明扬 房立金 张波 隋春平 |
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| 作者单位： | 1. 中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁,沈阳,110016;中国科学院研究生院,北京,100049
2. 中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁,沈阳,110016 |
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| 摘 要： | 介绍了一种大量程Stewart结构六维力／力矩传感器系统．建立了传感器力／力矩测量数学模型，构建了基于运动学逆解的优化目标函数．提出了一种新的参数标定法，称作分支轮换标定法．基于所研发的六维力／力矩传感器系统进行了实验研究，实验结果表明分支轮换法可以有效地辨识出传感器的结构参数，提高了测量精度．该方法可用于类似结构的六维力／力矩传感器参数标定．
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| 关 键 词： | Stewart平台 六维力／力矩传感器 分支轮换标定法 参数辨识 |
On Parameter Identification of a Stewart Platform-based Six-component Force/Torque Sensor |
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| WANG Hong-guang,ZHAO Ming-yang,FANG Li-jin,ZHANG Bo,SUI Chun-ping.On Parameter Identification of a Stewart Platform-based Six-component Force/Torque Sensor[J].Robot,2008,30(6):1. |
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| Authors: | WANG Hong-guang ZHAO Ming-yang FANG Li-jin ZHANG Bo SUI Chun-ping |
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| Affiliation: | WANG Hong-guang~(1,2) ZHAO Ming-yang~1 FANG Li-jin~1 ZHANG Bo~1 SUI Chun-ping~1 (1.State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China,2.Graduate School of the Chinese Academy of Sciences,Beijing 100049,China) |
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| Abstract: | This paper presents a large-scale Stewart platform-based six-component force/torque sensor.A force/torque measurement model is established and an optimal objective function based on the inverse kinematics is offered.A novel parameter calibration method,named branch-in-turn calibration,is presented.Based on the developed prototype of the six-component force/torque sensor,experiments have been made.The experimental results show that the branch-in-turn calibration method can effectively identify the structural... |
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| Keywords: | Stewart platform six-component force/torque sensor branch-in-turn calibration parameter identification |
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