Torque Sensor Calibration Using Virtual Load for a Manipulator
DC Field | Value | Language |
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dc.contributor.author | Lee, Sang-Hyuk | - |
dc.contributor.author | Kim, Young-Loul | - |
dc.contributor.author | Song, Jae-Bok | - |
dc.date.accessioned | 2021-09-08T04:01:38Z | - |
dc.date.available | 2021-09-08T04:01:38Z | - |
dc.date.created | 2021-06-11 | - |
dc.date.issued | 2010-04 | - |
dc.identifier.issn | 2234-7593 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/116665 | - |
dc.description.abstract | Accurate load sensing of a manipulator becomes increasingly important in performing various tasks involving contact with an environment. Most of the research has been focused on improving the hardware of a force/torque sensor. The torque sensors for a manipulator suffer from crosstalk, which is difficult to compensate for even with sophisticated calibration. This research proposed a novel calibration method composed of two steps. Through the primary calibration, the torque sensor output can be related to the joint torques. The secondary calibration, which is based on a virtual load, is conducted to compensate for the crosstalk of a torque sensor. The virtual load is obtained from the sensed joint torques and manipulator configuration. Using the proposed calibration method, the external load acting on the end-effector of a manipulator can be accurately measured even with relatively low-quality torque sensors. The experimental results showed that the error in the load sensing was significantly reduced by the proposed calibration method. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | KOREAN SOC PRECISION ENG | - |
dc.subject | DESIGN | - |
dc.title | Torque Sensor Calibration Using Virtual Load for a Manipulator | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Song, Jae-Bok | - |
dc.identifier.doi | 10.1007/s12541-010-0025-0 | - |
dc.identifier.scopusid | 2-s2.0-77952998620 | - |
dc.identifier.wosid | 000276440800005 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.11, no.2, pp.219 - 225 | - |
dc.relation.isPartOf | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | - |
dc.citation.title | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | - |
dc.citation.volume | 11 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 219 | - |
dc.citation.endPage | 225 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Manufacturing | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordAuthor | Torque Sensor | - |
dc.subject.keywordAuthor | Calibration | - |
dc.subject.keywordAuthor | Crosstalk | - |
dc.subject.keywordAuthor | Manipulator | - |
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