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提出了一种传感器不变性动态解耦方法．基于动态标定实验，进行传感器动态建模，在离散域设计解耦网络，分别对构造模型和腕力传感器进行解耦，效果良好．该方法简单、实用，是解决多维传感器和复合型传感器研制中关键问题的一种新方法
A dynamic sensor decoupling method is proposed. Based on the dynamic calibration experiment, the dynamic modeling of the sensor and the decoupling network are designed in the discrete domain. The structure model and the wrist force sensor are decoupled respectively and the effect is good. The method is simple and practical and is a new method to solve the key problems in the development of multi-dimensional sensors and composite sensors