DocumentCode
3389341
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
fYear
2009
fDate
16-18 April 2009
Firstpage
119
Lastpage
123
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/INES.2009.4924748
Filename
4924748
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