An online calibration method for six-dimensional force/torque sensor based on shape from motion combined with complex algorithm

The traditional six-dimensional force/torque sensor calibration method requires a lot of precision loading force and can only be off-line calibration. In this paper, to solve the problem, an online calibration and decoupling method based on the shape from motion combined with complex algorithm is proposed. It does not require accurate and redundant loading force information, and have better noise suppression characteristics just as the LSM in high-precision load, high redundant data acquisition correction. Compared to LSM, SFM method is a more efficient, high-precision calibration method. In the calibration process of SFM, a known force is applied in any direction within the space of the sensor, while the original output data is recorded in each direction. Finally, the algorithm is validated by carrying out experiment on one kinds of JR3 six-dimensional force/torque sensor.