| 机器人多维腕力传感器动态性能的实验分析 |
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| 引用本文： | 刘正士 葛运健. 机器人多维腕力传感器动态性能的实验分析[J]. 实验力学, 1994, 9(4): 344-351 |
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| 作者姓名： | 刘正士 葛运健 |
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| 作者单位： | 合肥工业大学，中科院合肥智能机械研究所 |
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| 基金项目： | 863—512智能机器人传感器实验室基金 |
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| 摘 要： | 本文对机器人多维腕力传感器动态性能进行实验分析，给出实验分析的方法和原理，实测传感器的传递函数曲线，以此为基础，识别传感器的动态性能指标，建立传感器的动态数学模型。
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| 关 键 词： | 多维腕力传感器 动态性能 频响函数 机器人 |
Experimental Analysis on the Dynamic Characteristic of Robot'' s Multidimensional Wrist Force Sensor |
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| Liu Zhengshi,Chen Xinzhao,Chen Xiaodong. Experimental Analysis on the Dynamic Characteristic of Robot'' s Multidimensional Wrist Force Sensor[J]. Journal of Experimental Mechanics, 1994, 9(4): 344-351 |
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| Authors: | Liu Zhengshi Chen Xinzhao Chen Xiaodong |
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| Affiliation: | Liu Zhengshi; Chen Xinzhao; Chen Xiaodong(Hefei University of Technology)Ge Yunjian(Hefei Institute of Intelligent Instrument of Chinese Academy of Science) |
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| Abstract: | Experimental analysis on the dynamic characteristic of robot' s multidimensionalwrist force sensor is performed. The method and fundament of experimental snalysis arepresented. The transform function curves of sensor are measured. Based on these, the dynamicperformance indexes of sensor identified and dynamic mathematical model of sensor is built up. |
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| Keywords: | multidimensional wrist force sensor dynamic performance index frequencyresponse function parameter identification. |
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