基于多项式拟合的六维力传感器解耦算法研究

王志军,张小涛,李梦祥

Research on decoupling algorithm of six-dimensional force sensor based on polynomial fitting

Zhijun WANG,Xiaotao ZHANG,Mengxiang LI

表1 不同

F_{s x}

下正交并联六维力传感器的标定实验结果

Table 1 Calibration experiment results of orthogonal parallel six-dimensional force sensor under different

F_{s x}

序号	$F_{s x} / N$	$F_{c x} / N$	$F_{c y} / N$	$F_{c z} / N$	$M_{c x} / (N \cdot m)$	$M_{c y} / (N \cdot m)$	$M_{c z} / (N \cdot m)$
1	10	9.958 4	-0.039 4	0.121 5	-0.005 5	0.014 9	0.014 6
2	20	19.820 2	-0.052 3	0.011 8	-0.012 5	0.031 2	0.030 8
3	30	29.823 4	-0.068 0	-0.106 4	-0.018 9	0.044 6	0.046 7
4	40	39.645 4	-0.121 6	-0.158 9	-0.027 7	0.0553	0.060 1
5	50	49.706 9	-0.159 7	-0.219 7	-0.030 5	0.051 7	0.067 4
6	60	59.837 8	-0.169 5	-0.251 1	-0.032 0	0.055 0	0.068 1
7	70	69.804 1	-0.234 3	-0.398 5	-0.043 3	0.061 7	0.071 2
8	80	79.827 2	-0.304 9	-0.483 5	-0.058 7	0.059 1	0.071 7
9	90	89.772 3	-0.356 8	-0.553 9	-0.060 2	0.049 0	0.069 5
10	100	99.784 8	-0.417 5	-0.725 5	-0.080 7	0.038 3	0.068 2