| A novel fully-integrated miniature six-axis force/torque sensor |
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| 作者姓名： | 王嘉力 Xie Zongwu Liu Hong Jiang Li Gao Xiaohui |
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| 作者单位： | [1]Robotics Institute, Harbin Institute of Teehnology, Harbin 150001, P.R. China [2]Institute of Robotics and Meehatronics, German Aerospace Center, DLR, Germany |
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| 基金项目： | 国家自然科学基金
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国家高技术研究发展计划(863计划) |
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| 摘 要： | This paper presents a new designed miniature six DOF （degree of freedom） force/torque sensor. This sensor is fully integrated with a micro DSP （digital signal processor）, so all the signal conditioning, A/D, decoupling, digital-signals serial output are performed in the sensor. Some experimental results are presented to demonstrate the capability of the proposed design. Finally, a neural network was used for decoupling the interacting signals, compared with the conventional method using the inverse matrix, this new method is more accurate.
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| 关 键 词： | 六轴压力传感器 灵敏元件 神经网络 扭矩传感器 |
| 收稿时间： | 2005-03-09 |
A novel fully-integrated miniature six-axis force/torque sensor |
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| Wang Jiali,Xie Zongwu,Liu Hong,Jiang Li,Gao Xiaohui.A novel fully-integrated miniature six-axis force/torque sensor[J].High Technology Letters,2006,12(3):235-238. |
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| Authors: | Wang Jiali Xie Zongwu Liu Hong Jiang Li Gao Xiaohui |
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| Abstract: | This paper presents a new designed miniature six DOF (degree of freedom) force/torque sensor.This sensor is fully integrated with a micro DSP (digital signal processor), so all the signal conditioning,A/D, decoupling, digital-signals serial output are performed in the sensor. Some experimental results are presented to demonstrate the capability of the proposed design. Finally, a neural network was used for decoupling the interacting signals, compared with the conventional method using the inverse matrix, this new method is more accurate. |
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| Keywords: | six-axis force sensor sensing element calibration neural network |
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