Data Acquisition System Research Of The No Coupling Six-axis Force-torque Sensor

The six-axis force–torque sensor is an important part in the robot systems, playingan important role in the robot force-position hybrid control system. The existing six-axisforce-torque sensors have a phenomenon of coupling in the detection principle. Makinguse of the decoupling algorithm program can get the six-axis force-torque information.The group of H&G Lab. have independently researched and developed the mechanicalbody of no coupling six-axis force-torque sensor used in the feet of humanoid robot, andsolved the universal phenomenon of coupling in the detection principle in the structure.However, the output signal of the force sensor can be used in the robot control system,also needs the support of data acquisition system. This paper focuses on the detectionprinciple of no coupling six-axis force-torque sensor, designing the data acquisitionsystem of the no coupling six-axis force-torque sensors.Complete the data acquisition hardware system design. There are some problemsof zero drift, weak signals, and poor ability of anti-interference in the output of the forcesensor conversion circuit. Then, signal conditioning circuits has been designed, whichconsist of the bridge circuit, the signal amplifier circuit, the low-pass filter circuit, thesignal compensation circuit. By using of the C2000series DSP chip Produced by the TIco., completed the design of the hardware system with DSP as the core, the A/Dconverter circuit, the communication interface circuit. Designing circuit schematics andmanufacturing the PCBs.Developed software for data acquisition system, based on DSP. To realize thefunction of the hardware circuit needs the software support. By the requirementsanalysis of the underlying program based on DSP, completed the development of theunderlying program for the DSP by using of the CCS3.3software. Completed the designof the A/D conversion program, the average filtering program, data type handler, Serialcommunication program, and built the prototype for the data acquisition and serialcommunication testing.Completed the development of PC application software, by using of the VisualC++6.0software, completed the PC application software development. Using MFCprogramming controlled serial port, realized the serial port communication between PCand the DSP. Wrote Dynamic Link Library functions, and realized the dynamic linkingby programming.