| 机器人腕力传感器动态响应的实时补偿 |
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| 引用本文： | 徐科军, 李成, 朱志能, 刘家军. 机器人腕力传感器动态响应的实时补偿. 自动化学报, 2001, 27(5): 705-709. |
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| 作者姓名： | 徐科军 李成 朱志能 刘家军 |
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| 作者单位： | 1.合肥工业大学自动化研究所,合肥 |
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| 基金项目： | 国家“863”计划 ( 863-5 1 2 -980 5 -0 6)，国家自然科学基金 ( 5 9985 0 0 3)资助 |
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| 摘 要： | 为了提高机器人腕力传感器的动态响应速度,在对传感器进行动态标定实验的基础上,采用FLANN方法设计动态补偿器,以DSP为处理核心,研制实时动态补偿系统.实验结果表明,经过补偿腕力传感器动态响应的调整时间缩短为原来的25%以下.
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| 关 键 词： | 腕力传感器 动态补偿 函数联接型神经元网络 数字信号处理器 |
| 收稿时间： | 1999-09-09 |
| 修稿时间： | 1999-09-09 |
Real Time Compensation of Dynamic Response of Robot Wrist Force Sensor |
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| XU Ke-Jun, LI Cheng, ZHU Zhi-Neng, LIU Jia-Jun. Real Time Compensation of Dynamic Response of Robot Wrist Force Sensor. ACTA AUTOMATICA SINICA, 2001, 27(5): 705-709. |
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| Authors: | XU Ke-Jun LI Cheng ZHU Zhi-Neng LIU Jia-Jun |
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| Affiliation: | 1. Institute of Automation,Hefei University of Technology,Hefei |
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| Abstract: | In order to speed up the dynamic responses of robot wrist force sensor, dynamic calibrating experiments are made, dynamic compensating devices are designed by using the method of FLANN, and a DSP based real time dynamic compensating system is developed, which includes six compensating devices. Experiment results show that the adjusting time of dynamic response of wrist force sensor is reduced to less than 25%. |
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| Keywords: | Wrist force sensor dynamic compensation functional link artificial neural network digital signal processor. |
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