Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors

Autor:	Chavez, Francisco Javier Andrade, Nava, Gabriele, Traversaro, Silvio, Nori, Francesco, Pucci, Daniele
Rok vydání:	2018
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	It is well known that sensors using strain gauges have a potential dependency on temperature. This creates temperature drift in the measurements of six axis force torque sensors (F/T). The temperature drift can be considerable if an experiment is long or the environmental conditions are different from when the calibration of the sensor was performed. Other \textit{in situ} methods disregard the effect of temperature on the sensor measurements. Experiments performed using the humanoid robot platform iCub show that the effect of temperature is relevant. The model based \textit{in situ} calibration of six axis force torque sensors method is extended to perform temperature compensation. Comment: Submitted to ICRA 2019
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1812.00650 Zobrazit plný text záznamu View this record from Arxiv