Research On The Static Performance Calibration Virtual Instrument For Six-dimension Wrist Force Sensor On LabVIEW

The theory and experimental research on the multi-dimension force sensor and their static calibration which are analyzed and synthesized at home and abroad in this paper. The virtual instrument consists of data processing and performance analyzing system. On the experiment bench, the six-dimension wrist force sensor can be loaded in each dimension respectively. Data acquisition system samples the analog signals of six-dimension wrist force sensor and saves the sampling data in a file. Data processing and performance analyzing system consists of main program, sampling processing program on LabVIEW, data processing and performance analyzing program on LabVIEW. The main program calls the program modules in sequence and transfers data. The sampling processing program analyzing the sample data on LabVIEW. The data processing and performance analyzing system calculates the static calibration matrix, fits a straight line, moves the fitting line to pass the zero point and calculates the sensitivity on LabVIEW.The prototype of the platform with multi-dimension force sensor and loading platform by our laboratory is chosen which based on the theory and experimental research on multi-dimension force sensor in this paper. The static performance calibration virtual instrument of the force sensor is designed. The software is programmed LabVIEW, MATLAB language. By the static calibration experiment and analyzing and validating the results, the static calibration matrix is acquired. At the same time, the reasons of errors are also analyzed.The research work of this thesis is very useful for the deep research on the calibration for robot's force sensor. It is of great significant with the theoretical and practical values.