六维腕力传感器的动态非线性研究-控制理论与控制工程专业论文.docxVIP

六维腕力传感器的动态非线性研究 六维腕力传感器的动态非线性研究 摘要 基于阶跃响应法的动态标定实验数据，采用系统辨识方法建立机器 人六维腕力传感器6个转换通道的动态数学模型，确定频域性能指标， 全面、准确地描述传感器的动态特性。 依据腕力传感器动态实验数据，分别采用改进的双对角化最小二乘 算法和函数联接型神经网络方法，建立其动态非线性时域模型，更为 准确地描述了传感器的动态特性。 提出了动态非线性补偿问题。采用函数联接型神经元网络设计动态 非线性补偿器，对机器人六维腕力传感器的脉冲响应和阶跃响应进行 补偿，取得较好的仿真效果。(但是，存在一定的局限性：并与动态线 性补偿结果进行了比较，说明动态非线性补偿的必要性户。 将具有动态非线性的传感器分解为非线性静态环节和线性动态环 节，提出一种新的传感器动态非线性补偿方法6先通过静态标定的方法 得到系统的非线性静态环节和线性动态环节，再对传感器输出信号进 行非线性静态校正。然后进行线性动态补偿。为了检验此方法的有效 性，)我们研制了以DSP为处理核心的传感器模拟器和传感器动态非线 性补偿系统。(实验结果表明，这种动态非线性补偿方法是有效的，是 普遍适用的。I吖一 对传感器不变性动态解耦方法进行了改进，较好地消除了静态耦合 误差。 关键词六维腕力传感器，双对角化最小二乘算法。函数联接型神 经网络，动态非线性补偿、动态解耦 RESEARCH RESEARCH ON DYNAMIC NONLlNEARITY OF THE SIX一^XlS WRIST FORCE SENSOR ABSTRACT According to the dynami c caliI)ration data of the step response experiments。the dynamic models of the six—axis wrist force sensor are set up for i ts 6 paths respectivelY by tile system identification method．The performance indexes in the frequency domain are determined．The dynamic characteristics of the sensor are described comprehensivelv． The nonlinear dynamic models in the time domain are set up using the modilied bi+”diagonal least——square method and the functional 1 inking neural network method．When compared with the 1inear dynamic models．the nonlinear dynamic models describe the dynamic characteristics of the sensor more aecuratelY． The problem of the nonl inear dynamic compensation is presented．The functional 1inking neural network method is used to design the compensating devices．The impulse and step responses of the sensor are compensated respectively，and good results are obtained and more desirable than those of 1inear compensation．But this method has its limitations． The sensor with the nonlinear dynamics may be divided into two parts： one is a nonl inear static part and 1he other is a 1inear dynamic part．A new kind of nonlinear dynamic compensating method of sensor is presented． The nonlinear static part and the 1inear dynamic part are obtained through the static calibration of the senso