Torque sensor calibration using virtual load for a manipulator

Sang Hyuk Lee, Jung Jun Park, Tae Bum Kwon, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Accurate load sensing is increasingly important in performing various tasks involved with contacting the environment. Most research has been focused on improving the hardware of a force/torque sensor. Torque sensors for a manipulator suffer from crosstalk, which cannot be compensated even by calibration. Thus they require precise machining and complicated structure to minimize crosstalk, which often results in cost increase. This research proposes a new calibration method composed of two steps. By the primary calibration, the torque sensor output can be related to the joint torques. The secondary calibration, which is based on the virtual load, is conducted to compensate crosstalk of the torque sensor. The virtual load is obtained from the measured joint torques and the manipulator Conf.iguration. Using the proposed calibration method, the external load acting on the end-effector can be sensed accurately even with relatively low-quality torque sensors. Experimental results showed that the error in load sensing was significantly reduced by the proposed calibration method.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages2449-2454
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

Fingerprint

Manipulators
Loads (forces)
Torque
Calibration
Sensors
Crosstalk
End effectors
Machining
Hardware
Costs

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Lee, S. H., Park, J. J., Kwon, T. B., & Song, J-B. (2007). Torque sensor calibration using virtual load for a manipulator. In IEEE International Conference on Intelligent Robots and Systems (pp. 2449-2454). [4399345] https://doi.org/10.1109/IROS.2007.4399345

Torque sensor calibration using virtual load for a manipulator. / Lee, Sang Hyuk; Park, Jung Jun; Kwon, Tae Bum; Song, Jae-Bok.

IEEE International Conference on Intelligent Robots and Systems. 2007. p. 2449-2454 4399345.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lee, SH, Park, JJ, Kwon, TB & Song, J-B 2007, Torque sensor calibration using virtual load for a manipulator. in IEEE International Conference on Intelligent Robots and Systems., 4399345, pp. 2449-2454, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 07/10/29. https://doi.org/10.1109/IROS.2007.4399345
Lee SH, Park JJ, Kwon TB, Song J-B. Torque sensor calibration using virtual load for a manipulator. In IEEE International Conference on Intelligent Robots and Systems. 2007. p. 2449-2454. 4399345 https://doi.org/10.1109/IROS.2007.4399345
Lee, Sang Hyuk ; Park, Jung Jun ; Kwon, Tae Bum ; Song, Jae-Bok. / Torque sensor calibration using virtual load for a manipulator. IEEE International Conference on Intelligent Robots and Systems. 2007. pp. 2449-2454
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