Study on decoupling algorithm of six-dimensional force sensor based on Stewart

The improvement of decoupling algorithm is an important aspect in improving the algorithm precision of six-dimensional force sensor. Based on linear calibration static decoupling, an algorithm of average calibration matrix is proposed, and the evaluation criterion of the algorithm is made, which includes precision test method and minimum condition number method. Through analyzing the processing of the data obtained from the sensor, the algorithm is indicated to have minimum condition number and high calculation accuracy of 0.5 %.