Research on Static Decoupling Algorithm for Three-Axis Force Sensors

Abstract

The basic principle of the inter-axis coupling of the three-axis wrist force sensor is introduced, and the basic method of static calibration of the sensor is described. A static decoupling algorithm based on feed-forward decoupling is proposed to solve the existing problems. The static calibration test of the three-dimensional wrist force sensor is carried out, and the calibration data is analyzed by using two decoupling algorithms. The experimental results show that the static decoupling algorithm based on feed-forward compensation decoupling has higher decoupling accuracy and can reflect the coupling relationship between the forces.