摘要
六维力传感器可以测量空间内各个方向力和力矩的信息量,在机器人反馈控制中具有极其重要的作用。由于机械结构和外部干扰的限制,传感器输出的电信号含有很多高频杂质信号。通过传感器模态振型分析和以传感器幅频特性的验证方法而确定低通滤波器的频带选取方案,并研究和设计出相应的低通滤波器,以滤除不需要的杂质信号和高频信号,可以使传感器输出更加精确、稳定。
Six dimensional force sensors can measure the force and torque information in each direction within the space, which plays an important role in robot feedback control. Due to the mechanical structure and external interference limitation, the sensor output signal contains a lot of high impurity signal. Through the modal analysis and the verification method of sensor amplitude-frequency characteristics to a determine the low pass filter band selection, we study and design the corresponding low-pass filter to filter out unwanted impurity signal and a high frequency signal, which can make the sensor output more precise, stable.
出处
《井冈山大学学报（自然科学版）》
2012年第1期74-78,共5页
Journal of Jinggangshan University (Natural Science)
基金
国家自然科学基金项目(5117500)
安徽省自然科学基金项目(11040606M144)
关键词
六维力传感器
反馈
模态振型
低通滤波器
幅频特性
six dimensional force sensor
feedback
modal
low-pass filter
amplitude-freguency characteristics
