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摘要: 为了提高机器人腕力传感器的动态响应速度,在对传感器进行动态标定实验的基础 上,采用FLANN方法设计动态补偿器,以DSP为处理核心,研制实时动态补偿系统.实验结果 表明,经过补偿腕力传感器动态响应的调整时间缩短为原来的25%以下.
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关键词:
- 腕力传感器 /
- 动态补偿 /
- 函数联接型神经元网络 /
- 数字信号处理器
Abstract: In order to speed up the dynamic responses of robot wrist force sensor, dynamic calibrating experiments are made, dynamic compensating devices are designed by using the method of FLANN, and a DSP-based real time dynamic compensating system is developed, which includes six compensating devices. Experiment results show that the adjusting time of dynamic response of wrist force sensor is reduced to less than 25%. -
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