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On Parameter Identification of a Stewart Platform-based Six-component Force/Torque Sensor
Authors
张波
房立金
+3 more
王洪光
赵明扬
隋春平
Publication date
1 January 2008
Publisher
Abstract
介绍了一种大量程Stewart结构六维力/力矩传感器系统.建立了传感器力/力矩测量数学模型,构建了基于运动学逆解的优化目标函数.提出了一种新的参数标定法,称作分支轮换标定法.基于所研发的六维力/力矩传感器系统进行了实验研究,实验结果表明分支轮换法可以有效地辨识出传感器的结构参数,提高了测量精度.该方法可用于类似结构的六维力/力矩传感器参数标定
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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Last time updated on 09/01/2019