论文部分内容阅读
本文主要介绍了六维柔性腕力传感器的结构检测原理，用ＲＰＹ方法建立了移动体对基座的变换矩阵，并根据ＰＳＤ检测的位置信号求解出变换矩阵．在此基础上，建立了力向量与位姿向量的关系式，通过刚度矩阵的标定获得力信息．最后介绍了腕力传感器的数据采集及处理系统
In this paper, the structure detection principle of six-dimensional flexible wrist force sensor is introduced. The transformation matrix of the moving body to the base is established by RPY method and the transformation matrix is solved based on the position signal detected by PSD. Based on this, the relationship between force vector and pose vector is established, and the force information is obtained through the calibration of stiffness matrix. Finally introduced wrist force sensor data acquisition and processing system