Linearity decoupling method based on kalman filter and repeated collection of multivariate force

Abstract

The invention provides a piecewise linearity decoupling method based on a kalman filter and repeated collection, and aims at solving the problem of coupling between dimensions of a multivariate force sensor. The linearity decoupling method includes the steps of building a coupling error model, respectively deducing a force value-voltage input-output formula to each force value of the multivariate force sensor in the positive and negative directions, then carrying out a static calibration experiment on the multivariate force sensor, carrying out filtering on voltage output by the multivariate force sensor according to a kalman filter method, carrying out repeated measurement on each loaded force value to obtain an input-output relational graph between the loaded force values and the voltage output by the multivariate force sensor, then obtaining undetermined coefficient of a force value-voltage fitting formula according to the method of solving least squares solution of overdetermined linear equations, and obtaining a coupling matrix by carrying out coefficient matrix inversion to finish the coupling process. Compared with a traditional coupling method, the piecewise linearity decoupling method can remarkably improve the coupling accuracy of the multivariate force sensor on the premise of not increasing calculated amount.

Description

technical field [0001] The invention is used in the field of sensors and is a decoupling method for multi-dimensional force sensors. It is suitable for reducing or eliminating the inter-dimensional coupling interference of the multi-dimensional force sensor and improving the measurement accuracy of the multi-dimensional force sensor. Background technique [0002] The multi-dimensional force sensor is a sensor used to measure the force / torque component in multi-dimensional space. It is mainly used in the wrist of the robot. It is used to measure the force of the robot hand and realize force feedback control. With the continuous advancement of research, six-dimensional force sensors have been widely used in aerospace, manufacturing and assembly, sports competitions, and teleoperation robots. The existence of the coupling error of the multi-dimensional force sensor affects the improvement of the accuracy of the multi-dimensional force sensor, and also limits the application of...

AI Technical Summary

Problems solved by technology

The method of reducing the coupling error by optimizing the structure of the multi-dimensional force sensor is greatly affected by factors such as machining error, resistance error of the strain bridge, and patch position.

The high cost and low yield rate make the practicability at this stage not high, and the improved decoupling algorithm has the advantages of strong feasibility, high accuracy, and low price, and has become a practical solution for multi-dimensional force sensors to reduce coupling errors.

[0005] The traditional decoupling method fails to completely calibrate the data of the coupling direction, and cannot obtain a stable and reliable decoupling coefficient, which affects the improvement of the decoupling accuracy of the multi-dimensional force sensor

Images