Title :
Static compensation for wrist mounted force torque sensor
Author :
Tauro, Ricardo A. ; Kaiser, Benedikt ; Wórn, Hein
Author_Institution :
Institute for Process Control and Robotics, University of Karlsruhe, 76128, Germany
Abstract :
This paper presents and evaluates a new technique for the calibration and compensation of static error of force/torque (F/T) sensors. The presented approach is based on a learning algorithm. A Modified Nearest Neighbor algorithm is presented to compensate non-linear errors, produced by the weight of the end effector or by the internal offset of a wrist mounted F/T sensor of a 6 degree of freedom (DOF) industrial robot.
Keywords :
Calibration; End effectors; Force control; Force sensors; Robot sensing systems; Robotics and automation; Sensor systems; Service robots; Torque; Wrist;
Conference_Titel :
Intelligent Engineering Systems, 2009. INES 2009. International Conference on
Conference_Location :
Barbados
Print_ISBN :
978-1-4244-4111-2
Electronic_ISBN :
978-1-4244-4113-6
DOI :
10.1109/INES.2009.4924748
