1. Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors
- Author
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Francisco Javier Andrade Chavez, Gabriele Nava, Francesco Nori, Daniele Pucci, and Silvio Traversaro
- Subjects
FOS: Computer and information sciences ,Dependency (UML) ,Materials science ,Acoustics ,010401 analytical chemistry ,02 engineering and technology ,In situ calibration ,01 natural sciences ,0104 chemical sciences ,Compensation (engineering) ,Computer Science - Robotics ,0202 electrical engineering, electronic engineering, information engineering ,Calibration ,Torque ,020201 artificial intelligence & image processing ,Robotics (cs.RO) ,iCub ,Humanoid robot ,Strain gauge - Abstract
It is well known that sensors using strain gauges have a potential dependency on temperature. This creates temperature drift in the measurements of six axis force torque sensors (F/T). The temperature drift can be considerable if an experiment is long or the environmental conditions are different from when the calibration of the sensor was performed. Other \textit{in situ} methods disregard the effect of temperature on the sensor measurements. Experiments performed using the humanoid robot platform iCub show that the effect of temperature is relevant. The model based \textit{in situ} calibration of six axis force torque sensors method is extended to perform temperature compensation., Submitted to ICRA 2019
- Published
- 2019