A method for measuring and compensating temperature drift of a six-dimensional force sensor

Abstract

The present invention discloses a temperature drift measurement and compensation method for a six-dimensional force sensor, comprising: in response to the six-dimensional force sensor measuring an object to be measured at a first temperature, obtaining initial comprehensive force data of the six-dimensional force sensor; obtaining standard torque output and temperature difference torque output in the same torque direction in the initial comprehensive force data; judging whether the standard torque output and the temperature difference torque output match, if so, judging that the six-dimensional force sensor does not need to be compensated for temperature drift; if not, obtaining the strain resistance change of the strain gauge of the six-dimensional force sensor according to the standard torque output; obtaining the temperature drift coefficient according to the temperature difference torque output and the strain resistance change; and performing temperature drift compensation on other data in the initial comprehensive force data according to the temperature drift coefficient to obtain corrected comprehensive force data. The present invention can compensate for the temperature drift caused by the temperature difference between strain gauges in the same Wheatstone bridge.

Description

Technical Field

[0001] The invention relates to the field of six-dimensional force sensors, and in particular to a temperature drift measurement and compensation method for six-dimensional force sensors. Background Art

[0002] A multi-dimensional force sensor refers to a force sensor that can simultaneously measure force and torque components in more than two directions. In the Cartesian coordinate system, force and torque can be decomposed into three components each. Therefore, the most complete form of multi-dimensional force is a six-dimensional force / torque sensor, that is, a sensor that can simultaneously measure three force components and three torque components. The widely used multi-dimensional force sensor is this type of sensor. The six-dimensional force sensor can be used as a basic component for precision assembly, precision operation, precision control, and human-computer interaction control because it can simultaneously detect three-dimensional forces and three-dimensional torques in space. At the same time, the six-dimensional force sensor is also a guarantee for robots to complete contact operations. For example, space detection technology, space manipulator force control, industrial robots, and underwater robot remote control operations all require a large range of high-precision six-dimensional force sensors.

[0003] When the six-axis force sensor measures an object with a temperature that is too different from the ambient temperature (such as a hot object), the strain gauges on different surfaces of the elastic beam will have a temperature difference due to the way the six-axis force sensor's strain gauges are attached. If the strain gauges with temperature differences are located in the same Wheatstone bridge, the traditional temperature compensation will lose its effect. Summary of the invention

[0004] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a temperature drift measurement compensation method for a six-axis force sensor, aiming to compensate for the temperature drift caused by the temperature difference between strain gauges in the same Wheatstone bridge when the six-axis force sensor measures an object whose temperature is too different from the ambient temperature.

[0005] To achieve the above object, the present invention provides a six-dimensional force sensor temperature drift measurement compensation method, the method comprising:

[0006] Step S1, in response to the six-dimensional force sensor measuring the object to be measured at a first temperature, obtaining initial comprehensive force data of the six-dimensional force sensor; wherein the initial comprehensive force data at least includes torque data in one direction, and the torque data in the same direction of the six-dimensional force sensor includes outputs of two Wheatstone bridges in different bridge assembly modes;

[0007] Step S2, obtaining the standard torque output and the temperature difference torque output in the same torque direction in the initial comprehensive force data; judging whether the standard torque output and the temperature difference torque output match, and if so, judging that the six-dimensional force sensor does not need to perform temperature drift compensation; if not, entering step S3; wherein, when the Wheatstone bridge is divided into two sides by connecting the input voltage contacts, the two strain gauges on the same side of the Wheatstone bridge corresponding to the standard torque output are both located on the measuring side close to the object to be measured or are both located on the back side away from the object to be measured, and the different sides of the Wheatstone bridge corresponding to the temperature difference torque output have a strain gauge located on the measuring side close to the object to be measured;

[0008] Step S3, obtaining a strain resistance change of the strain gauge of the six-dimensional force sensor according to the standard torque output; obtaining a temperature drift coefficient according to the temperature difference torque output and the strain resistance change; wherein the strain gauges of the same Wheatstone bridge in the six-dimensional force sensor are of the same specification;

[0009] Step S4: performing temperature drift compensation on other data in the initial comprehensive force data according to the temperature drift coefficient to obtain corrected comprehensive force data; wherein the corrected comprehensive force data includes force outputs in various dimensions after temperature drift compensation.

[0010] Optionally, the S3 includes:

[0011] According to the standard torque output, the strain gauge resistance of the Wheatstone bridge corresponding to the standard torque output, and the input voltage of the Wheatstone bridge corresponding to the standard torque output, the strain resistance change of the strain gauge of the six-dimensional force sensor is obtained; according to the temperature difference torque output, the strain resistance change, the strain gauge resistance of the Wheatstone bridge corresponding to the temperature difference torque output, and the input voltage of the Wheatstone bridge corresponding to the temperature difference torque output, the temperature drift coefficient is obtained; wherein, each strain gauge in the six-dimensional force sensor has the same specification and a first resistance, and each Wheatstone bridge in the six-dimensional force sensor uses the same first input voltage.

[0012] Optionally, obtaining the strain resistance change of the strain gauge of the six-dimensional force sensor according to the standard torque output, the strain gauge resistance of the Wheatstone bridge corresponding to the standard torque output, and the input voltage of the Wheatstone bridge corresponding to the standard torque output includes:

[0013] according to

[0014]

[0015] Obtain the change in the strain resistance; wherein, is the standard torque output, the is the first input voltage, the is the first resistance value, the is the change in the strain resistance.

[0016] Optionally, obtaining the temperature drift coefficient according to the temperature difference torque output, the change in strain resistance, the strain gauge resistance of a Wheatstone bridge corresponding to the temperature difference torque output, and the input voltage of the Wheatstone bridge corresponding to the temperature difference torque output includes:

[0017] according to

[0018]

[0019] Obtain the temperature drift coefficient; wherein, is the temperature difference torque output, is the first input voltage, the is the first resistance value, the is the change in the strain resistance, is the temperature drift coefficient.

[0020] Optionally, the six-dimensional force sensor includes: a bridge switching circuit, which is used to switch the output of the Wheatstone bridge corresponding to each dimensional torque to input, and the input to output, so that the corresponding Wheatstone bridge switches to two different bridge assembly modes to respectively output the standard torque output and the temperature difference torque output.

[0021] Optionally, the standard torque output and the temperature difference torque output in the same torque direction in the six-dimensional force sensor correspond to two independent Wheatstone bridges; the two independent Wheatstone bridge strain gauges are mounted in the same manner but in different bridge assembly methods, so that the two independent Wheatstone bridges respectively output the standard torque output and the temperature difference torque output.

[0022] Optionally, the step S2 includes:

[0023] Obtain the standard torque output and temperature difference torque output in the same torque direction in the initial comprehensive force data; determine whether the difference between the standard torque output and the temperature difference torque output is less than a first difference threshold; if so, determine that the six-dimensional force sensor does not need to perform temperature drift compensation; if not, proceed to step S3.

[0024] Optionally, step S4 includes:

[0025] Substituting the temperature drift coefficient into the calculation formula corresponding to other data in the initial comprehensive force data to obtain the corrected other data;

[0026] The standard torque output and the corrected other data are recombined to obtain the corrected comprehensive force data.

[0027] Optionally, after step S4, the method further includes:

[0028] The corrected comprehensive force data is output, and the forces and moments of each dimension in the corrected comprehensive force data are displayed.

[0029] Beneficial effects of the present invention: The present invention measures the torque of the same dimension through two Wheatstone bridges of different bridge assembly modes. Since the standard torque output corresponding to the Wheatstone bridge is not affected by the temperature difference between the strain gauges and can output correct torque data, the resistance change (strain resistance change) of the strain gauge at room temperature can be solved through the standard torque output, and then the temperature drift coefficient causing the temperature offset can be solved based on the temperature difference torque output and the strain resistance change. Furthermore, the present invention can compensate for the forces and torques of each dimension according to the temperature drift coefficient to correct these forces and torques.

[0030] In summary, the present invention can effectively compensate for the temperature drift caused by the temperature difference between strain gauges in the same Wheatstone bridge when the six-dimensional force sensor measures an object whose temperature differs greatly from the ambient temperature, so that the measurement result is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a flow chart of a method for measuring and compensating temperature drift of a six-dimensional force sensor provided by a specific embodiment of the present invention;

[0032] Figure 2 is a schematic diagram of deformation of an elastic beam of a six-dimensional force sensor provided by a specific embodiment of the present invention;

[0033] Figure 3 A specific embodiment of the present invention provides Figure 2 Schematic diagram of the circuit structure of the stress moment strain gauge bridge;

[0034] Figure 4 A specific embodiment of the present invention provides Figure 2 Schematic diagram of the circuit structure of the bridge group method corresponding to the standard torque output;

[0035] Figure 5 A specific embodiment of the present invention provides Figure 2 Schematic diagram of the circuit structure corresponding to the bridge group method of temperature difference torque output. DETAILED DESCRIPTION

[0036] The present invention discloses a method for measuring and compensating temperature drift of a six-dimensional force sensor. Those skilled in the art can refer to the content of this article and appropriately improve the technical details. It should be particularly noted that all similar substitutions and modifications are obvious to those skilled in the art, and they are all considered to be included in the present invention. The method and application of the present invention have been described through preferred embodiments, and relevant personnel can obviously modify or appropriately change and combine the methods and applications described herein without departing from the content, spirit and scope of the present invention to implement and apply the technology of the present invention.

[0037] The applicant has found through research that when the six-dimensional force sensor is measuring an object whose temperature is too different from the ambient temperature (such as a heating object), the strain gauges on different sides of the elastic beam will have a temperature difference due to the way the strain gauges of the six-dimensional force sensor are attached. That is, the temperature of the strain gauge close to the object to be measured is close to the temperature of the object to be measured, and the temperature of the strain gauge far from the object to be measured is close to the ambient temperature. If the strain gauges with temperature differences are located in the same Wheatstone bridge, and because traditional temperature compensation is to compensate all strain gauges in the bridge, this will cause the traditional temperature compensation to lose its effect.

[0038] Therefore, an embodiment of the present invention provides a six-dimensional force sensor temperature drift measurement compensation method, such as Figure 1 As shown, the method includes:

[0039] Step S1, in response to the six-dimensional force sensor measuring the object to be measured at a first temperature, obtaining initial comprehensive force data of the six-dimensional force sensor.

[0040] The initial comprehensive force data at least includes torque data in one direction, and the torque data in the same direction of the six-dimensional force sensor includes outputs of two Wheatstone bridges in different bridge assembly modes.

[0041] In the first specific embodiment, the six-dimensional force sensor includes: a bridge switching circuit, which is used to switch the output of the Wheatstone bridge corresponding to each dimensional torque to input, and the input to output, so that the corresponding Wheatstone bridge switches to two different bridge combinations to output standard torque output and temperature difference torque output respectively.

[0042] In the second specific embodiment, the standard torque output and the temperature difference torque output in the same torque direction in the six-dimensional force sensor correspond to two independent Wheatstone bridges; the two independent Wheatstone bridge strain gauges are mounted in the same way but in different bridge assembly ways, so that the two independent Wheatstone bridges output the standard torque output and the temperature difference torque output respectively.

[0043] It should be noted that these are two ways of realizing torque data in the same direction including output of two Wheatstone bridges with different bridge assembly modes. The first specific embodiment has a simpler corresponding structure, and the second specific embodiment is even simpler to realize.

[0044] Step S2, obtaining the standard torque output and temperature difference torque output in the same torque direction in the initial comprehensive force data; determining whether the standard torque output and the temperature difference torque output match, if so, determining that the six-dimensional force sensor does not need to perform temperature drift compensation; if not, proceeding to step S3.

[0045] Among them, when the Wheatstone bridge is divided into two sides by connecting the input voltage contacts, the two strain gauges on the same side of the Wheatstone bridge corresponding to the standard torque output are both located on the measuring side close to the object to be measured or on the back side away from the object to be measured, and there is a strain gauge on different sides of the Wheatstone bridge corresponding to the temperature difference torque output located on the measuring side close to the object to be measured.

[0046] It should be noted that, since the Wheatstone bridge corresponding to the standard torque output and the Wheatstone bridge corresponding to the temperature difference torque output are assembled in different ways, their output voltage formulas are also different, and the output voltage formula corresponding to the standard torque output is independent of the temperature drift coefficient, so the standard torque output will not be affected by the temperature difference between the strain gauges and is an accurate output. Based on this point, the embodiment of the present invention solves the change in strain resistance, and then solves the temperature drift coefficient to compensate for other forces and torques.

[0047] In this specific embodiment, step S2 includes:

[0048] Obtain the standard torque output and temperature difference torque output in the same torque direction in the initial comprehensive force data; determine whether the difference between the standard torque output and the temperature difference torque output is less than the first difference threshold; if so, determine that the six-dimensional force sensor does not need to perform temperature drift compensation; if not, enter step S3.

[0049] It should be noted that, ideally, when there is no temperature difference between the strain gauges, the standard torque output and the temperature difference torque output should be the same. The embodiment of the present invention takes into account the influence of other external factors, so a threshold is set to avoid the problem that the standard torque output and the temperature difference torque output cannot always match due to other factors.

[0050] Step S3, obtaining the strain resistance change of the strain gauge of the six-dimensional force sensor according to the standard torque output; obtaining the temperature drift coefficient according to the temperature difference torque output and the strain resistance change.

[0051] Among them, each strain gauge of the same Wheatstone bridge in the six-dimensional force sensor has the same specification, that is, the initial resistance value is the same, and the change of resistance value corresponding to the same deformation amount at the same temperature is the same.

[0052] In this specific embodiment, S3 includes:

[0053] According to the standard torque output, the strain gauge resistance of the Wheatstone bridge corresponding to the standard torque output, and the input voltage of the Wheatstone bridge corresponding to the standard torque output, the strain resistance change of the strain gauge of the six-dimensional force sensor is obtained; according to the temperature difference torque output, the strain resistance change, the strain gauge resistance of the Wheatstone bridge corresponding to the temperature difference torque output, and the input voltage of the Wheatstone bridge corresponding to the temperature difference torque output, the temperature drift coefficient is obtained; wherein, each strain gauge in the six-dimensional force sensor has the same specification and the first resistance, and each Wheatstone bridge in the six-dimensional force sensor uses the same first input voltage.

[0054] Further, according to the standard torque output, the strain gauge resistance value of the Wheatstone bridge corresponding to the standard torque output, and the input voltage of the Wheatstone bridge corresponding to the standard torque output, the strain resistance change of the strain gauge of the six-dimensional force sensor is obtained, including:

[0055] according to

[0056]

[0057] Obtain the change in strain resistance; where, is the standard torque output, is the first input voltage, is the first resistance value, is the change in strain resistance.

[0058] Furthermore, the temperature drift coefficient is obtained according to the temperature difference torque output, the change in strain resistance, the strain gauge resistance of the Wheatstone bridge corresponding to the temperature difference torque output, and the input voltage of the Wheatstone bridge corresponding to the temperature difference torque output, including:

[0059] according to

[0060]

[0061] Get the temperature drift coefficient; where, is the temperature difference torque output, is the first input voltage, is the first resistance value, is the change in strain resistance, is the temperature drift coefficient.

[0062] In a specific application: Assume that an elastic beam changes under the action of the corresponding moment as follows Figure 2 As shown ( Figure 2 Only the stress-torque changes are shown in the figure). , , as well as The distribution of Figure 2 As shown, and Located on the back side away from the object to be measured, and The ones located on the measuring side close to the object to be measured and have similar changes due to temperature can be considered to have the same temperature drift coefficient. Figure 2 In the strain gauge , , as well as The resistance is , and its corresponding first input voltage is , the change of strain resistance ,in and The resistance changes by , and The resistance decreases and the change is , the temperature drift coefficient is .

[0063] Furthermore, when Figure 2 Using a bridge switching circuit, you can Figure 3 As shown, Figure 3 The bridge switching circuit can be realized by four single-pole double-throw switches 301. It is used to switch the output of the Wheatstone bridge corresponding to each dimension of torque to input, and the input to output, so that the corresponding Wheatstone bridge switches two different bridge combination modes to output standard torque output and temperature difference torque output respectively.

[0064] Furthermore, Figure 2 The corresponding standard torque output bridge circuit structure diagram is as follows: Figure 4 As shown. Figure 4 You can get:

[0065]

[0066] because and The resistance changes by , and The resistance decreases and the change is ,and and The temperature drift coefficient corresponding to the measurement side close to the object to be measured is When measuring, , , as well as Then substitute into

[0067]

[0068] Simplified

[0069]

[0070] It can be seen that the standard torque output is not affected by the temperature drift coefficient.

[0071] Furthermore, Figure 2 The schematic diagram of the corresponding bridge circuit structure of the temperature difference torque output is as follows: Figure 5 As shown. Figure 5 You can get:

[0072]

[0073] because and The resistance changes by , and The resistance decreases and the change is ,and and The temperature drift coefficient corresponding to the measurement side close to the object to be measured is When measuring, , , as well as Then substitute into

[0074]

[0075] Since the standard torque output can be obtained ,Will Substituting into the above formula, we can solve .

[0076] It is worth mentioning that Figure 4 and Figure 5 The middle dotted line is the input voltage contact connection line, which is used to divide the sides.

[0077] Step S4: perform temperature drift compensation on other data in the initial comprehensive force data according to the temperature drift coefficient to obtain corrected comprehensive force data; wherein the corrected comprehensive force data includes force outputs in various dimensions after temperature drift compensation.

[0078] In this specific embodiment, step S4 includes:

[0079] Substitute the temperature drift coefficient into the calculation formula corresponding to other data in the initial comprehensive force data to obtain the corrected other data;

[0080] The standard moment output and other corrected data are recombined to obtain the corrected comprehensive force data.

[0081] In this specific embodiment, after step S4, the method further includes:

[0082] The corrected comprehensive force data are output, and the forces and moments of each dimension in the corrected comprehensive force data are displayed.

[0083] The embodiment of the present invention measures the torque of the same dimension through two Wheatstone bridges of different bridge assembly modes. Since the standard torque output corresponding to the Wheatstone bridge is not affected by the temperature difference between the strain gauges and can output the correct torque data, the resistance change (strain resistance change) of the strain gauge at room temperature can be solved through the standard torque output, and then the temperature drift coefficient causing the temperature offset can be solved based on the temperature difference torque output and the strain resistance change. Furthermore, the embodiment of the present invention can compensate for the forces and torques of each dimension according to the temperature drift coefficient to correct these forces and torques.

[0084] In summary, the embodiments of the present invention can effectively compensate for the temperature drift caused by the temperature difference between strain gauges in the same Wheatstone bridge when the six-dimensional force sensor measures an object whose temperature differs greatly from the ambient temperature, so that the measurement result is more accurate.

[0085] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0086] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0087] The above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A six-dimensional force sensor temperature drift measurement and compensation method, characterized in that: The method comprises: Step S1, in response to the six-dimensional force sensor measuring the object to be measured at a first temperature, obtaining initial comprehensive force data of the six-dimensional force sensor; wherein the initial comprehensive force data at least includes torque data in one direction, and the torque data in the same direction of the six-dimensional force sensor includes outputs of two Wheatstone bridges in different bridge assembly modes; Step S2, obtaining the standard torque output and the temperature difference torque output in the same torque direction in the initial comprehensive force data; judging whether the standard torque output and the temperature difference torque output match, and if so, judging that the six-dimensional force sensor does not need to perform temperature drift compensation; if not, entering step S3; wherein, when the Wheatstone bridge is divided into two sides by connecting the input voltage contacts, the two strain gauges on the same side of the Wheatstone bridge corresponding to the standard torque output are both located on the measuring side close to the object to be measured or are both located on the back side away from the object to be measured, and the different sides of the Wheatstone bridge corresponding to the temperature difference torque output have a strain gauge located on the measuring side close to the object to be measured; Step S3, obtaining a strain resistance change of the strain gauge of the six-dimensional force sensor according to the standard torque output; obtaining a temperature drift coefficient according to the temperature difference torque output and the strain resistance change; wherein the strain gauges of the same Wheatstone bridge in the six-dimensional force sensor are of the same specification; Step S4: performing temperature drift compensation on other data in the initial comprehensive force data according to the temperature drift coefficient to obtain corrected comprehensive force data; wherein the corrected comprehensive force data includes force outputs in various dimensions after temperature drift compensation.

2. The six-dimensional force sensor temperature drift measurement and compensation method according to claim 1, characterized in that: The S3 includes: According to the standard torque output, the strain gauge resistance of the Wheatstone bridge corresponding to the standard torque output, and the input voltage of the Wheatstone bridge corresponding to the standard torque output, the strain resistance change of the strain gauge of the six-dimensional force sensor is obtained; according to the temperature difference torque output, the strain resistance change, the strain gauge resistance of the Wheatstone bridge corresponding to the temperature difference torque output, and the input voltage of the Wheatstone bridge corresponding to the temperature difference torque output, the temperature drift coefficient is obtained; wherein, each strain gauge in the six-dimensional force sensor has the same specification and a first resistance, and each Wheatstone bridge in the six-dimensional force sensor uses the same first input voltage.

3. The six-dimensional force sensor temperature drift measurement and compensation method according to claim 2, characterized in that: The step of obtaining a strain resistance change of the strain gauge of the six-dimensional force sensor according to the standard torque output, the strain gauge resistance of the Wheatstone bridge corresponding to the standard torque output, and the input voltage of the Wheatstone bridge corresponding to the standard torque output comprises: according to Obtain the change in the strain resistance; wherein, is the standard torque output, the is the first input voltage, the is the first resistance value, the is the change in the strain resistance.

4. The six-dimensional force sensor temperature drift measurement and compensation method according to claim 3, characterized in that: The step of obtaining the temperature drift coefficient according to the temperature difference torque output, the change in strain resistance, the strain gauge resistance of the Wheatstone bridge corresponding to the temperature difference torque output, and the input voltage of the Wheatstone bridge corresponding to the temperature difference torque output comprises: according to Obtain the temperature drift coefficient; wherein, is the temperature difference torque output, is the first input voltage, the is the first resistance value, the is the change in the strain resistance, is the temperature drift coefficient.

5. The six-dimensional force sensor temperature drift measurement and compensation method according to claim 1, characterized in that: The six-dimensional force sensor includes: a bridge switching circuit, which is used to switch the output of the Wheatstone bridge corresponding to each dimensional torque to input, and the input to output, so that the corresponding Wheatstone bridge switches to two different bridge assembly modes to output the standard torque output and the temperature difference torque output respectively.

6. The six-dimensional force sensor temperature drift measurement and compensation method according to claim 1, characterized in that: The standard torque output and the temperature difference torque output in the same torque direction in the six-dimensional force sensor correspond to two independent Wheatstone bridges; the two independent Wheatstone bridge strain gauges are attached in the same way but in different ways of assembling bridges, so that the two independent Wheatstone bridges respectively output the standard torque output and the temperature difference torque output.

7. The six-dimensional force sensor temperature drift measurement and compensation method according to claim 1, characterized in that: The step S2 comprises: Obtain the standard torque output and temperature difference torque output in the same torque direction in the initial comprehensive force data; determine whether the difference between the standard torque output and the temperature difference torque output is less than a first difference threshold; if so, determine that the six-dimensional force sensor does not need to perform temperature drift compensation; if not, proceed to step S3.

8. The six-dimensional force sensor temperature drift measurement and compensation method according to claim 1, characterized in that: The step S4 comprises: Substituting the temperature drift coefficient into the calculation formula corresponding to other data in the initial comprehensive force data to obtain the corrected other data; The standard torque output and the corrected other data are recombined to obtain the corrected comprehensive force data.

9. The six-dimensional force sensor temperature drift measurement and compensation method according to claim 1, characterized in that: After step S4, the method further includes: The corrected comprehensive force data is output, and the forces and moments of each dimension in the corrected comprehensive force data are displayed.

Images