力反馈是机器人控制技术中一种重要的反馈。位于机器人手臂和夹持器之间的腕部力传感器是最重要的力传感器。对力传感器进行标定就是找出其标定矩阵。作者提出了求标定矩阵的方法,并指出Shimino和美国机器人技术公司——RTI的标定方法是错误的。专门设计的实验表明,用作者提出的方法所得的标定矩阵进行计算,测定载荷与实际施加的载荷是相接近的,而RTI公司的结果与施加载荷相差甚大。作者还提出了一种简化的6×6标定矩阵,用其计算的结果也与实际施加载荷接近。 Force feedback is an important feedback in robot control technology. The wrist force sensor located between the robot arm and the gripper is the most important force sensor. Calibrating a force sensor is finding its calibration matrix. The authors propose a method to find a calibration matrix and point out that Shimino and American robotics company RTI calibration methods are wrong. Specially designed experiments show that using the calibration matrix obtained by the method proposed by the authors, the measured load is close to the actual applied load, whereas the result from RTI is very different from the applied load. The authors also propose a simplified 6 × 6 calibration matrix, with which the calculated results are also close to the actual applied load.