Study on the Method of Dynamic Characteristic Calibration of the 6-Aixs Wrist Force Sensor for Robot

The step response method should be applied in the dynamic characteristic calibration of the 6-aixs wrist force sensor for robot and some comparisons are made with other calibration methods. Before starting the step drive pulse, the sampling number should be zero in order to reduce the interference from the rectangle pulse signal spectrum to transfer function. A new designed experiment table is easy to get the drive signal. Added by sampling program, the trigger time of step drive can be captured. Then, the interference can be reduced to zero. A very few of crown blocks on the experiment table could be used, thus the calibration error is reduced.