Torque Sensor Calibration Using Virtual Load for a Manipulator
- Authors
- Lee, Sang-Hyuk; Kim, Young-Loul; Song, Jae-Bok
- Issue Date
- 4월-2010
- Publisher
- KOREAN SOC PRECISION ENG
- Keywords
- Torque Sensor; Calibration; Crosstalk; Manipulator
- Citation
- INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.11, no.2, pp.219 - 225
- Indexed
- SCOPUS
KCI
- Journal Title
- INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
- Volume
- 11
- Number
- 2
- Start Page
- 219
- End Page
- 225
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/116665
- DOI
- 10.1007/s12541-010-0025-0
- ISSN
- 2234-7593
- 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.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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