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多维腕力传感器是智能机器人中最重要的传感器之一,检测三维空间的力和力矩信息,使机器人准确无误地完成机械装配、精密磨削、轮廓跟踪等工作。腕力传感器应用于机器人力控制系统中,这要求它响应速度快、动态品质好。但目前,该传感器的动态性能难以满足机器人实时控制的要求,国内外在此方面的研究相当薄弱。通过分析与实验,本文认为在腕力传感器动态特性研究中存在三个关键问题:
Multi-dimensional wrist force sensor is one of the most important sensors in intelligent robot. It detects the force and moment information in three-dimensional space, and makes the robot complete mechanical assembly, precision grinding and contour tracking accurately. The wrist force sensor used in the robot force control system, which requires it to respond quickly, good dynamic quality. However, at present, the dynamic performance of the sensor is difficult to meet the real-time control requirements of robots, and research in this field at home and abroad is rather weak. Through the analysis and experiment, this paper argues that there are three key problems in the study of the dynamic characteristics of the wrist force sensor: