Research on Nonlinear Decoupling Method of Piezoelectric Six-Dimensional Force Sensor Based on BP Neural Network

摘要

The six-dimensional force sensor has become one of the major bottlenecks restricting the development of robots in China. In this paper, the problem of the decoupling of the piezoelectric six-dimensional force sensor with four-point support structure is studied, and the static decoupling method is studied. Firstly, the principle of nonlinear decoupling algorithm for six-dimensional force sensor is analyzed, and experimental data obtained by decoupling are acquired through calibration experiments, and sample selection and normalization processing are performed. After that, the BP forward feedback neural network was used to optimize the multi-dimensional nonlinear characteristics of the sensor output system, and the input and output mapping relationship of the sensor was determined, and the decoupled sensor output data was obtained. The determinant sensor's measurement accuracy evaluation index is compared with linearity error and coupling rate error.