Research on Dynamic Decoupling Algorithm of Six-axis Force Sensor based on Space Partition

Aiming at the decoupling problem of the calibration of the six-axis force sensor, the coupling relationship is established according to the calibration experiment results of the six- axis force sensor. The basic principle of least square method and space partition decoupling algorithm is introduced. According to the algorithm principle, the calibration matrix is calculated by calibration data. The decoupling algorithm is used to decouple the calibration matrix, and finally the decoupling calibration matrix is obtained and verified. The results demonstrate the effectiveness of the proposed decoupling algorithm.