Tham khảo tài liệu 'sensors, focus on tactile, force and stress sensors 2011 part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Study on Dynamic Characteristics of Six-axis Wrist Force torque Sensor 201 Fig. 6-29 Input and nonlinear output l nonlinear output 2 input signal Fig. 6-30 Nonlinear output and compensating result 1 input signal 2 compensated result Fig. 6-32 Input and nonlinear output 1 nonlinear output 2 input signal 202 Sensors Focus on Tactile Force and Stress Sensors Fig. 6-33 Nonlinear output and compensation result 1 nonlinear output 2 compensation result 6. Conclusions 1 The dynamic response of sensors that posse the nonlinear dynamic characteristics is first handled using the nonlinear static correction method to obtain the linear dynamic response and then is processed using the linear dynamic compensation method to short the time of reaching the steady state. 2 This kind of method is applicable for different form and amplitude nonlinear dynamic responses of sensors. 3 If there are noises in the nonlinear dynamic responses of sensors a digital filter with two-order may be added into the compensation system. The place and order of the digital filter have been studied. The filter may be put the behind of the nonlinear static correction part or the linear dynamic compensation part. The cut-off frequency of the filter should be 2 times as large as the natural frequency of sensors. 7. References Dwayne M. Perry Multi-axis force and torque sensing Sensor Review 1997 Lu-Ping Chao Kuen-tzong Chen Shape optimal design and force sensitivity evaluation of six-axis force sensors Sensors and Actuators A pp. 105112 1997 Maurice Dubious Six-component stain- gage balances for large wind tunnels Experimental Mechanics 407 1981 Dirk Diddens Dominiek Reynaerts Hendrik Van Brussel Design of a ring- shaped three-axis micro force torque sensor Sensor and Actuators A 1995 T. C. Hsia System Identification Least Square Methods Lexington Books Lexington Mass 1977 Study on Dynamic Characteristics of Six-axis Wrist Force torque Sensor .