关键词: 六维力/力矩传感器, 雅可比矩阵, 条件数, 各向同性

Abstract:

Jacobian matrix of the six axis force/torque sensor based on a Stewart platform is analyzed, and singular values are obtained by matrix transform. Relationship between isotropy and frame dimension is derived from analysis of the condition number based on the matrix spectral norm, which provides a better method for evaluation of the performance index and optimization of the framework for the force/torque sensor.

Key words: six-axis force/ torque sensor, Jacobian matrix, condition number, isotropy