[1]黄惟一,王玉生,沈向阳.机器人腕力传感器传递矩阵的研究[J].东南大学学报(自然科学版),1988,18(3):11-17.[doi:10.3969/j.issn.1001-0505.1988.03.002]
 Huang weiyi Wang Yusheng Shen Xiangyang (Department of Automatic Control).Research on Transfer Matrix of Robot Wrist Force Sensor[J].Journal of Southeast University (Natural Science Edition),1988,18(3):11-17.[doi:10.3969/j.issn.1001-0505.1988.03.002]
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机器人腕力传感器传递矩阵的研究()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
18
期数:
1988年第3期
页码:
11-17
栏目:
本刊信息
出版日期:
1988-05-20

文章信息/Info

Title:
Research on Transfer Matrix of Robot Wrist Force Sensor
作者:
黄惟一王玉生沈向阳
南京工学院自动控制系; 南京工学院自动控制系
Author(s):
Huang weiyi Wang Yusheng Shen Xiangyang (Department of Automatic Control)
关键词:
工业机器人 腕力传感器 传递矩阵
Keywords:
Zhang Zhe Chen Deshu (Huazhong University of Science and Technology)
分类号:
+
DOI:
10.3969/j.issn.1001-0505.1988.03.002
摘要:
腕力传感器的传递矩阵对输出信号的解耦和提高腕力传感器的精度具有重要意义。本文从多项式最佳逼近的实现来求解传递矩阵。首先在L~2意义上提出了一般的传递矩阵计算法, 并提出了两种改进的算法。然后从一致逼近出发提出最佳传递矩阵计算法,并利用线性规划的方法求出最佳传递矩阵。实验和计算结果验证了这些算法是有效的。
Abstract:
Transfer matrix of wrist force sensor is of importance to decoupling output signals and enhancing precision of wrist force sensor. This paper solves trrnsfer matrix from realization of optimal polynomial approximation. First, general transfer matrix algorithm in the L~2 sense and two kinds of modified algorithm have been offered. Then, we start from uniform approximation to offer optimal transfer matrix algorithm and use method of linear programming to solve for optimal transfer matrix. Results of experiment and computation prove that these algorithms are effective.

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[1]王一清,黄惟一,崔建伟,等.基于Kalman滤波的一阶微分参量估计方法的研究[J].东南大学学报(自然科学版),2004,34(1):25.[doi:10.3969/j.issn.1001-0505.2004.01.006]
 Wang Yiqing,Huang Weiyi,Cui Jianwei,et al.Research on one-order differential coefficient estimation based on Kalman filtering[J].Journal of Southeast University (Natural Science Edition),2004,34(3):25.[doi:10.3969/j.issn.1001-0505.2004.01.006]

更新日期/Last Update: 2013-04-30