Model based in situ calibration of six axis force torque sensors

Chavez, Francisco Javier Andrade; Traversaro, Silvio; Pucci, Daniele; Nori, Francesco

doi:10.1109/humanoids.2016.7803310

Cited by 9 publications

(6 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Previous results showed that the sphere estimation type using the Grid dataset gave the best results when no temperature was taken into account [11]. Adding the temperature required considering more than one dataset to incorporate multiple temperatures.…”

Section: Previous Resultsmentioning

confidence: 99%

“…In the previous Model Based formulation without temperature [11], less amount of data was used to calibrate the sensor. When considering only one type of dataset for calibration, the sphere types outperform the centralized ones.…”

Section: Comparison With Other Methodsmentioning

confidence: 99%

“…The selection of the best calibration matrix is done using the contact force validation described in a previous work [11]. It emulates the contact force estimation algorithm in an offline environment.…”

Section: External/contact Force Estimation Validationmentioning

confidence: 99%

“…Despite being common sensors in many floating base platforms [4][5][6][7][8][9], their potential use in floating base robots has not been full documented. One of the reasons is that the reliability of this sensors may decrease after mounting them [10][11][12][13]. The Model-Based In Situ Calibration Method has shown promising results in the improvement of the The paper is structured as follows: in Section 2, the in situ calibration method is detailed.…”

Section: Introductionmentioning

confidence: 99%

“…In all of these methods, the effect of temperature is either not considered or carefully controlled when calibrating without accounting for changes in the working conditions. Other methods exploit the encoders and the model of the robot to provide the reference forces and torques [11]. This method was successfully improved to account for temperature by considering temperature effects on the sensor as linear [14].There are two main contributions of this paper.…”

mentioning

confidence: 99%

See 4 more Smart Citations

Six-Axis Force Torque Sensor Model-Based In Situ Calibration Method and Its Impact in Floating-Based Robot Dynamic Performance

Chavez

Traversaro

Pucci

2019

Sensors

Self Cite

View full text Add to dashboard Cite

A crucial part of dynamic motions is the interaction with other objects or the environment. Floating base robots have yet to perform these motions repeatably and reliably. Force torque sensors are able to provide the full description of a contact. Despite that, their use beyond a simple threshold logic is not widespread in floating base robots. Force torque sensors might change performance when mounted, which is why in situ calibration methods can improve the performance of robots by ensuring better force torque measurements. The Model-Based in situ calibration method with temperature compensation has shown promising results in improving FT sensor measurements. There are two main goals for this paper. The first is to facilitate the use and understanding of the method by providing guidelines that show their usefulness through experimental results. Then the impact of having better FT measurements with no temperature drift are demonstrated by proving that the offset estimated with this method is still useful days and even a month from the time of estimation. The effect of this is showcased by comparing the sensor response with different offsets simultaneously during real robot experiments. Furthermore, quantitative results of the improvement in dynamic behaviors due to the in situ calibration are shown. Finally, we show how using better FT measurements as feedback in low and high level controllers can impact the performance of floating base robots during dynamic motions. Experiments were performed on the floating base robot iCub.

show abstract

Section: Previous Resultsmentioning

confidence: 99%

Section: Comparison With Other Methodsmentioning

confidence: 99%

Section: External/contact Force Estimation Validationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

See 3 more Smart Citations

Six-Axis Force Torque Sensor Model-Based In Situ Calibration Method and Its Impact in Floating-Based Robot Dynamic Performance

Chavez

Traversaro

Pucci

2019

Sensors

Self Cite

View full text Add to dashboard Cite

show abstract

In Situ Calibration of a Six-Axis FBG Force/Moment Sensor for Surgical Robot

Chen

2022

Intelligent Robotics and Applications

View full text Add to dashboard Cite

Sensitivity and sensitivity isotropy of an 8/4–4 parallel six-axis force sensor

Weishan

Song

2020

View full text Add to dashboard Cite

Purpose Six-axis force sensors play an important role in civilian and military fields because of their multifunctionality. In the context of sensor structure design, sensitivity and sensitivity isotropy are often considered. This paper aims to study the possible relationship between the sensitivity/sensitivity isotropy and structural parameters of an 8/4–4 parallel six-axis force sensor. A comprehensive evaluation index and structural optimization design scheme are suggested in the end. Design/methodology/approach Based on the conditional number of the Jacobian matrix spectral norm, the sensitivity and sensitivity isotropy of the sensor are derived. Orthogonal experiments are used to determine the degree of primary and secondary factors that have a substantial effect on the sensor characteristics. The relationship between the performance indices and the structural parameters is analyzed by the performance atlas method. The comprehensive evaluation index lays the foundation for the structural optimization design of an 8/4–4 parallel six-axis force sensor. Findings The variation in each performance index of the sensor for each of the structural parameters is analyzed, and the structural parameters of the sensor with the desired performance indices can be easily selected from the performance atlases. A comprehensive performance evaluation index with a target value of 1 is proposed, and the overall influence of the structural parameters on the sensor performance index is investigated. A simulation example shows the feasibility of the proposed evaluation index. Originality/value The importance of each structural parameter of the 8/4–4 parallel six-axis force sensor is determined through orthogonal experiments in this paper. Relations among the structural parameters meeting the performance indices are derived and shown in the performance atlases. A comprehensive evaluation index is proposed to analyze the overall sensor performance.

show abstract

Model based in situ calibration of six axis force torque sensors

Cited by 9 publications

References 11 publications

Six-Axis Force Torque Sensor Model-Based In Situ Calibration Method and Its Impact in Floating-Based Robot Dynamic Performance

Six-Axis Force Torque Sensor Model-Based In Situ Calibration Method and Its Impact in Floating-Based Robot Dynamic Performance

In Situ Calibration of a Six-Axis FBG Force/Moment Sensor for Surgical Robot

Sensitivity and sensitivity isotropy of an 8/4–4 parallel six-axis force sensor

Contact Info

Product

Resources

About