Title :
Research on dynamic non-linearity compensation of sensor
Author :
Xu, Ke-Jun ; Zhu, Zhi-Neng ; Liu, Jia-Jun
Author_Institution :
Hefei Univ. of Technol., China
Abstract :
It is necessary to carry out the dynamic compensation for the sensor when its dynamic response speed is slow. Sometimes the effectiveness of dynamic compensation is not good because the dynamic characteristic of sensor is nonlinear. In order to resolve this problem, the dynamic nonlinearity compensation is studied in this paper. The dynamic nonlinearity compensating devices are designed using the FLANN, both the impulse and step responses of robot wrist force sensor are compensated, and good results are obtained. The dynamic nonlinearity compensation results are also compared with that of dynamic linearity compensation, which shows the dynamic nonlinearity compensation is effective
Keywords :
compensation; force measurement; fuzzy neural nets; manipulators; nonlinear dynamical systems; sensors; FLANN; dynamic response speed; fuzzy logic neural net; impulse response; robot wrist force sensor; sensor dynamic nonlinearity compensation; step response; Force sensors; Linearity; Robot sensing systems; Sensor phenomena and characterization; Wrist;
Conference_Titel :
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location :
Hefei
Print_ISBN :
0-7803-5995-X
DOI :
10.1109/WCICA.2000.863501
