Dynamic Modeling and Compensation of Robot Six-Axis Wrist Force/Torque Sensor

The dynamic mathematical models of six channels of six-axis wrist force/torque sensor for robots are built up by the system identification method based on the experimental data of step-response calibrations. The performance indexes of frequency domain are determined, and the dynamic characteristics of the wrist force sensor are described accurately. In order to speed the dynamic responses of the wrist force sensor, the dynamic compensating devices are designed using the method of functional link artificial neural network, and a digital-signal-processor-based real-time dynamic compensation system is developed, which includes six compensating devices. The experimental results show that the adjusting time of dynamic response of the wrist force sensor is reduced to less than 25%.