Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors
This addresses measurement accuracy issues for robotics applications where temperature variations occur, but it is incremental as it builds on existing calibration methods.
The authors tackled temperature drift in six-axis force/torque sensors by extending a model-based in situ calibration method to include temperature compensation, demonstrating its relevance on the iCub humanoid robot platform.
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.