Decoupling method for multidimensional force sensor based on coupling error modeling

Abstract

The invention provides a decoupling method for a multidimensional force sensor based on coupling error modeling, aiming to solve the problem for the multidimensional force sensor to eliminate dimensional coupling. The method is characterized by comprising the following steps: firstly building a coupling error theoretical model to deduce a coefficient solution formula and a decoupling formula of the coupling error model, then conducting a static calibration test for the multidimensional force sensor, and finally determining undetermined coefficients of the coupling error theoretical model according to the obtained static calibration test data; and during the process of the particular force measurement, the output value of force measurement is introduced into the decoupling formula with determined coefficients to calculate force / force moment to complete decoupling. The algorithm can achieve decoupling of the multidimensional force sensor through modeling coupling errors without a plurality of matrix operations involved by the static decoupling algorithm based on a general inverse solution matrix. The decoupling method has the advantages that the algorithm is simple and reliable, andthe calculation process can proceed from the essence of dimensional coupling and reflect the coupling relation among various dimensional forces.

Description

technical field [0001] The invention is used in the field of sensors and is a decoupling algorithm for multi-dimensional force sensors. It is suitable for reducing or eliminating inter-dimensional coupling interference of multi-dimensional force sensors and improving the measurement accuracy of the sensors. Background technique [0002] The multi-dimensional force sensor is used to perceive the orthogonal force / torque in the space, and is often assembled on the front end of the manipulator for the on-the-spot feeling of the force sense and touch sense of the intelligent robot. With the rapid development of intelligent robot technology, the multi-dimensional force sensor has become one of the most important and widely used sensors in the field of robotics, and its accuracy directly affects the precise control of the entire robot. The existence of coupling is an important aspect that restricts the accuracy of sensors. [0003] For an ideal multi-dimensional force sensor, the...

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