基于坐标变换的六维力传感器静态标定方法

为了提高传感器的测量精度,研究了六维力传感器标定矩阵的构造方法。首先,指出了传统标定矩阵的物理意义。然后,在传统标定矩阵中引入坐标平移变换算式,提出了一种综合考虑位置、姿态、坐标轴刻度比例缩放变换关系的六维力传感器静态标定方法。在标定试验的基础上,构造了标定矩阵,并对实测数据进行了补偿计算。误差分析表明:在传感测量系统无平移系统误差时,与传统标定方法相比,该方法的补偿精度略有下降。当在传感测量中加入平移系统误差时,该方法的补偿精度不变,而传统标定方法的测量精度明显下降。该方法起到了消除平移系统误差作用。

In order to improve the measuring precision of the sensor,the constructing method of the six-dimensions force sensor's calibration matrix is studied.First,the physical meaning of the traditional calibration matrix is shown.The formula of coordination transformation is applied to traditional calibration matrix,and a new way of the six-dimensions force sensor's static calibration is given that considers position,attitude and the proportional converting relation of the coordinate frame's scalar.Basing on the calibration experimentation,the calibration matrix is constructed,and the measuring data are compensated.The error analysis shows that the compensated precision is slightly lower than the traditional calibration method,when there isn't transferring system error in the measuring system.But compensated precision isn't changing,when there is transferring system erros the measuring precision of the traditional calibration method is apparently descension.The method can remove the transferring system error.

国家自然科学基金资助项目(50275143)