| RESEARCH ON TRANSFER MATRIX OF ROBOT WRIST FORCE SENSOR |
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| 引用本文： | 黄惟一,王玉生,沈向阳. RESEARCH ON TRANSFER MATRIX OF ROBOT WRIST FORCE SENSOR[J]. 东南大学学报, 1989, 0(2) |
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| 作者姓名： | 黄惟一 王玉生 沈向阳 |
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| 作者单位： | Department of Automatic Control，Department of Automatic Control，Department of Automatic Control |
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| 摘 要： | The transfer matrix of wrist force sensor is important for decoupling theoutput signals and enhancing the precision of wrist force sensor.This paper solves thetransfer matrix from the realization of optimal approximation of polynomial.First,thegeneral transfer matrix algorithm in the sense of L~2 and two kinds of modified algorithmare proposed.Then,starting from uniform approximation,the optimal transfer matrixalgorithm is offered and solved by the use of linear programming.The results of experi-ment and computation prove that these algorithms are effective.
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RESEARCH ON TRANSFER MATRIX OF ROBOT WRIST FORCE SENSOR |
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| Huang Weiyi Wang Yusheng Shen Xiangyang. RESEARCH ON TRANSFER MATRIX OF ROBOT WRIST FORCE SENSOR[J]. Journal of Southeast University(English Edition), 1989, 0(2) |
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| Authors: | Huang Weiyi Wang Yusheng Shen Xiangyang |
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| Affiliation: | Department of Automatic Control |
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| Abstract: | The transfer matrix of wrist force sensor is important for decoupling the output signals and enhancing the precision of wrist force sensor.This paper solves the transfer matrix from the realization of optimal approximation of polynomial.First,the general transfer matrix algorithm in the sense of L~2 and two kinds of modified algorithm are proposed.Then,starting from uniform approximation,the optimal transfer matrix algorithm is offered and solved by the use of linear programming.The results of experi- ment and computation prove that these algorithms are effective. |
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| Keywords: | industrial robots/wrist force senor transfer matrix |
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