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

Francisco Javier Andrade Chavez1, Silvio Traversaro1, Daniele Pucci1

  • 1Dynamic Interaction Control Lab at Istituto Italiano di Tecnologia, 16163 Genova, Italy.

Sensors (Basel, Switzerland)
|December 19, 2019
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Summary

This study introduces an in situ calibration method for force torque sensors on floating base robots. Improved sensor accuracy enhances dynamic motion control and reliability, even after extended periods.

Keywords:
force torque sensorsin situ calibrationrobot dynamic performance

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Area of Science:

  • Robotics
  • Control Systems
  • Sensor Technology

Background:

  • Floating base robots struggle with repeatable dynamic motions due to unreliable contact force sensing.
  • Force torque sensors offer detailed contact information but are underutilized beyond basic thresholding in these robots.
  • In situ calibration is crucial for maintaining force torque sensor accuracy after mounting and over time.

Purpose of the Study:

  • To provide guidelines and experimental validation for a Model-Based in situ calibration method with temperature compensation for force torque sensors.
  • To demonstrate the long-term stability and usefulness of calibrated force torque sensor offsets.
  • To quantify the performance improvements in floating base robot dynamic motions using enhanced force torque feedback.

Main Methods:

  • Implementation and experimental validation of a Model-Based in situ calibration technique for force torque sensors.
  • Temperature compensation integrated into the calibration process.
  • Comparison of robot performance with calibrated versus uncalibrated force torque sensor data in real-time experiments.
  • Evaluation of calibrated sensor data's utility over extended periods (days to weeks).

Main Results:

  • The in situ calibration method significantly improves the accuracy and reliability of force torque measurements.
  • Calibrated sensor offsets remain stable and useful for extended periods, demonstrating robustness against drift.
  • Experiments show enhanced dynamic behaviors and control performance in the iCub robot due to improved force torque feedback.

Conclusions:

  • Model-Based in situ calibration with temperature compensation is effective for enhancing force torque sensor performance in floating base robots.
  • Accurate and reliable force torque sensing is critical for achieving repeatable and robust dynamic motions.
  • The proposed method offers practical guidelines and demonstrates significant performance gains for robotic applications.