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基于INA的机器人六维腕力传感器的解耦研究
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2009-07-02
h1654155275.3301
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将逆奈奎斯特方法( INA) 用于多维传感器的解耦;使用该方法对一具体的六维腕力传感器解耦,并采用零极点配置法设计动态补偿器,取得了很好的效果,达到了机器人智能控制对传感器的要求;通过仿真实验证实了INA 方法可以用于多维传感器的解耦。
关键词: INA ;解耦;六维腕力传感器;动态补偿器
Abstract :The Inverse Nyquist Array ( INA) method is ap2 plied originally to decouple a practical model of six2dimen2 sion brawn sensor. Dynamic compensators ,designed with the allocation method of zero points and poles ,meet the needs of intelligent control of robots. The satisfying simulation results show that the INA method can handle the decoupling of mul2 tivariable sensors successfully.
Key words :Inverse Nyquist Array ; decouple ; six2dimension brawn sensors ;dynamic compensators
关键词: INA ;解耦;六维腕力传感器;动态补偿器
Abstract :The Inverse Nyquist Array ( INA) method is ap2 plied originally to decouple a practical model of six2dimen2 sion brawn sensor. Dynamic compensators ,designed with the allocation method of zero points and poles ,meet the needs of intelligent control of robots. The satisfying simulation results show that the INA method can handle the decoupling of mul2 tivariable sensors successfully.
Key words :Inverse Nyquist Array ; decouple ; six2dimension brawn sensors ;dynamic compensators
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