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| Research and Application of Static Decoupling for 3-axis Wrist Force Sensor |
| MA Jun-qing,SONG Ai-guo,WU Juan |
| Jiangsu key lab of Remote Measurement and Control, School of Instrument Science and Engineering, School of Instrument Science and Engineering, Southeast University, Nanjing, Jiangsu 210096, China |
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Abstract To study the 3-axis force sensor static decoupling algorithm, the principle of 3-axis force sensor couple is presented and coupling error model is developed. Static calibration experiments of a 3-axis force sensor are described. The traditional algorithm based on solving inverse matrix always has a problem of generating ill-conditioned matrix, which may decrease stability and precision of decoupling. A static decoupling algorithm based on coupling error model is proposed. The results of experiments show that the novel algorithm has features of simplicity, high reliability and high precision. It also has the ability to reflect coupling relation among sensor dimensions.
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2011, Vol. 32 
