Decoupling method of multi-dimensional force sensor in noise environment

Abstract

The invention discloses a decoupling method of a multi-dimensional force sensor in a noise environment. The method comprises the following steps: 1, acquiring calibration data corresponding to the output voltage U of a sensor and the weight (force) F of a standard weight through a signal conditioning circuit and an acquisition system; 2, adding noise to the calibration data obtained in the step 1,wherein the signal-to-noise ratio is controlled between 20 dB and 30 dB; 3, sequentially splicing the multiple groups of noise samples generated in the step 2, and performing normalization processingto form a new data sample; 4, inputting the sample obtained in step 3 into a deep neural network (DNN) for training, judging whether a model convergence condition is met or not, if the condition is met, skipping to step 4, and otherwise, continuing to execute step 2; and step 5, finishing model training, embedding the trained model into a sensor acquisition system, and finally applying the modelto an actual industrial field. According to the invention, the robustness of the sensor in the noise environment is improved, and the method has a good practical application value.

Description

technical field [0001] The invention relates to the field of multi-dimensional force sensor data acquisition, in particular to a decoupling method of a multi-dimensional force sensor in a noise environment. Background technique [0002] Multi-dimensional force sensors are widely used in the research of robotic fingers and claws; robotic surgery research; finger force research; dental research; force feedback; brake detection; precision assembly, cutting; restoration research; plastic surgery research; product testing; Teach to learn. The industry covers robotics, automobile manufacturing, automated assembly line assembly, biomechanics, aerospace, textile industry and other fields. The coupling error of the multi-dimensional force sensor affects its detection accuracy, and also limits its application in the field of high-precision measurement and control. [0003] At present, optimizing the sensor structure and enhancing the decoupling algorithm are two effective ways to im...

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Problems solved by technology

[0004] Domestic patents related to multi-dimensional force sensor decoupling methods include "Genetic algorithm-based multi-dimensional force sensor calibration experiment data fitting method" (201610232792.4), by deriving the coefficient solution formula of the sensor coupling error theoretical model, and then using the genetic algorithm on MATLAB software Determine the global optimal solution to solve the data fitting problem, but the optimal solution obtained by the genetic algorithm in this patent may be a local optimal rather than a global optimal, resulting in an increase in the fitting error

National Invention Patent "A Dynamic Decoupling Method for Multi-dimensional Force Sensors" (201910160583.7), this method first conducts a dynamic test on the sensor, then dynamically compensates the output signal, and finally brings the compensated signal into the decoupling model to realize decoupling, but this method does not take into account the impact of noisy noise in the actual industrial environment on the data collected by the sensor, and there may be certain limitations in practical applications

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