摘要
本文探讨一种只受接触力影响,而不受手爪空间姿态变化影响的机器人六维腕力传感器原理.重点讨论增加三维直线加速度计,并通过运算来消除该影响的可行性.
The mechanism of a kind of six dimensional robot wrist sensor which can only be affected by contact forcenot as well as attitude change of end effector is discussed.Emphasis is laid on the feasibility of eliminating theeffect of attitude change by adding three accelerometers and information preprocessing.
出处
《机器人》
EI
CSCD
北大核心
1992年第6期29-33,共5页
Robot
关键词
腕力传感器
机器人
手爪
姿态
wrist sensor
robot end effector
attitude
