摘要
腕力传感器是一类重要的机器人传感器,对传感器进行标定是传感器设计过程中的重要一步。文中利用ADAMS虚拟样机技术,对并联腕力传感器进行标定,通过不同的力的加载,得出多组标定数据,然后求解得出所设计的传感器的力标定矩阵。为传感器在实际标定实验过程中提供理论和参考依据。
Wrist force sensor is one kind of the important robot sensors,and calibrating the sensor is an important part in the design of the parallel wrist force sensor. This article used ADAMS to calibrate the parallel wrist force sensor,and obtained several groups of calibration data through putting on different force,then calculated and obtained the calibration matrix. It can offer theoretical reference for calibrating the parallel wrist force sensor in the laboratory.
出处
《机械工程师》
2008年第7期13-15,共3页
Mechanical Engineer
基金
国家自然科学基金资助项目(50375071)
国防科工委民用航天十一五项目(C4220062501)
