针对腕力传感器动态特性随负载变化这一问题 ,研制了以 ADSP为处理核心的自适应多维实时动态补偿器 ,设计了硬件电路 ,编制了软件 ,进行了实验。结果表明 ,自适应多维动态补偿方法是提高多维力传感器动态品质的有效方法 ,DSP是实现实时补偿的有力工具。 Aiming at the problem that dynamic characteristic of wrist force sensor varies with load, an adaptive multidimensional real-time dynamic compensator with ADSP as the processing core was designed. The hardware circuit was designed, the software was programmed, and the experiment was carried out. The results show that the adaptive multidimensional dynamic compensation method is an effective method to improve the dynamic quality of multidimensional force sensors. DSP is a powerful tool for real-time compensation.