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| Correction in Calibration Matrix of Six-axis Force Sensor Based on Independent Component Analysis |
| LIU Bao-hua1,2,CHI He-xiang1,LI Shuo-guo1 |
1. Hebei Provincial Key Lab of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei 066004, China;
2. School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China |
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Abstract To improve the measurement accuracy of the six-dimensional force sensor,a static calibration method based on independent component analysis (ICA) is proposed. Force acting on the platform forms mixed-signal after the six-dimensional force sensor. Firstly, the mixed-signal is decomposed to separate components with ICA. Then combined with the ideal source signal to recover the real sort and amplitude of the dimensional force,and finally came to the corrected calibration matrix. The simulation results show that,the corrected calibration matrix is closer to the standard one,which improves the measurement accuracy of the six-dimensional force sensor.
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2015, Vol. 36 
