Model Based In Situ Calibration of Six Axis Force Torque Sensors
This addresses calibration challenges for robotic systems using force/torque sensors, but it is incremental as it builds on existing calibration techniques.
The paper tackles the problem of calibrating six-axis force/torque sensors after they are mounted on a robot by proposing an in-situ method that uses the robot's model to generate expected wrenches during motion, training new calibration matrices based on prior workbench calibration; it was validated on the iCub humanoid robot legs, though no concrete performance numbers are provided.
This paper proposes and validates an in situ calibration method to calibrate six axis force torque (F/T) sensors once they are mounted on the system. This procedure takes advantage of the knowledge of the model of the robot to generate the expected wrenches of the sensors during some arbitrary motions. It then uses this information to train and validate new calibration matrices, taking into account the calibration matrix obtained with a classical Workbench calibration. The proposed calibration algorithm is validated on the F/T sensors mounted on the iCub humanoid robot legs.