Research on decoupling of parallel six-axis force/torque sensor based on an independent component analysis

Abstract

This study proposes a parallel six-axis force/torque sensor decoupling method based on an independent component analysis (ICA), and the experimental platform is built for experimental exploration. First of all, the structural model and mathematical model of the parallel six-axis force/torque sensor are introduced, which is composed of single-dimensional force sensors with central symmetry. Secondly, the test prototype was developed and a test platform was built to per-form online static loading test on the sensor, and the test results were analyzed. Finally, the ICA-based dynamic decoupling study of the sensor is carried out, the effectiveness and rationality of the proposed algorithm are proved. The research results of this paper have certain reference values for the further study of the decoupling of parallel six-axis force/torque sensors.