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本文首先提出了一种新结构的水下机械手用六维腕力传感器；
Firstly, a six-axis wrist force sensor using a thin-walled cylinder as detective section is proposed in this paper.
介绍航天机器人用六维腕力传感器信号处理系统的硬件、软件构成。
This paper introduces the composition of the signal processing system of six - axis-force sensor used by aeronautic robot.
通过对机器人六维腕力传感器系统的各种标定方法的分析讨论，说明了应采用阶跃响应的方法来对它的动态性能进行标定。
The step response method should be applied in the dynamic characteristic calibration of the 6-aixs wrist force sensor for robot and some comparisons are made with other calibration methods.
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