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

Chavez, Francisco Javier Andrade; Nava, Gabriele; Traversaro, Silvio; Nori, Francesco; Pucci, Daniele

doi:10.1109/icra.2019.8794382

Cited by 10 publications

(12 citation statements)

References 9 publications

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“…It was proven that adding the temperature led to a further increase in performance. Mixing types of datasets gave better results [14]. The in situ offset estimation type with temperature was shown to be better, followed closely by the centralized offset removal with or without temperature, using the same λ value.…”

Section: Previous Resultsmentioning

confidence: 83%

“…Experiments were performed on the floating base robot iCub. reliability of force torque sensors [14]. By extending its benefits and showcasing the improvement of floating base robots performance with this method, we aim to encourage the use of this sensor in these types of platforms in more effective ways.The most common phenomena used in FT sensors to measure forces is the change in resistance of silicon due to strain [15].…”

mentioning

confidence: 99%

“…This material also changes resistance with temperature. Because of this, depending on the calibration procedure, the sensor might suffer from temperature drift [14,16,17]. This is the undesired change of measurement due to changes in temperature.…”

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confidence: 99%

“…Other methods exploit the encoders and the model of the robot to provide the reference forces and torques [11]. This method was successfully improved to account for temperature by considering temperature effects on the sensor as linear [14].There are two main contributions of this paper. The first is to provide useful tips to better exploit the Model-Based in situ calibration method with temperature compensation in a simple way.…”

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confidence: 99%

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confidence: 99%

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Six-Axis Force Torque Sensor Model-Based In Situ Calibration Method and Its Impact in Floating-Based Robot Dynamic Performance

Chavez

Traversaro

Pucci

2019

Sensors

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A crucial part of dynamic motions is the interaction with other objects or the environment. Floating base robots have yet to perform these motions repeatably and reliably. Force torque sensors are able to provide the full description of a contact. Despite that, their use beyond a simple threshold logic is not widespread in floating base robots. Force torque sensors might change performance when mounted, which is why in situ calibration methods can improve the performance of robots by ensuring better force torque measurements. The Model-Based in situ calibration method with temperature compensation has shown promising results in improving FT sensor measurements. There are two main goals for this paper. The first is to facilitate the use and understanding of the method by providing guidelines that show their usefulness through experimental results. Then the impact of having better FT measurements with no temperature drift are demonstrated by proving that the offset estimated with this method is still useful days and even a month from the time of estimation. The effect of this is showcased by comparing the sensor response with different offsets simultaneously during real robot experiments. Furthermore, quantitative results of the improvement in dynamic behaviors due to the in situ calibration are shown. Finally, we show how using better FT measurements as feedback in low and high level controllers can impact the performance of floating base robots during dynamic motions. Experiments were performed on the floating base robot iCub.

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Section: Previous Resultsmentioning

confidence: 83%

mentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

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Six-Axis Force Torque Sensor Model-Based In Situ Calibration Method and Its Impact in Floating-Based Robot Dynamic Performance

Chavez

Traversaro

Pucci

2019

Sensors

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A Six‐Axis Asymmetric Parallel Manipulator Co‐Driven by Direct‐Drive and Geared Motors for Enhanced Force‐Sensing Capability

Wu,

Wang

2024

IEEJ Transactions Elec Engng

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This article introduces a novel six‐axis parallel manipulator co‐driven by motors with and without geared reducers. The design leverages the high stiffness provided by the geared motors and the high force‐sensing capability of the direct drives. When the geared motors move synchronously with their direct‐drive counterparts, the manipulator mimics a Delta robot's spatial translation, while the direct drives double as high‐performance force sensors. An asymmetric design of the manipulator is proposed to allocate a larger portion of torque to the geared motors, raising the overall stiffness of the mechanism. Relations between the external force to the driving torque are derived and the torque redistribution effect of the asymmetric design is illustrated numerically. Experimental results on prototypes of both the symmetric design and the asymmetric design show that direct drives consistently exhibit much higher linearity in the force‐to‐torque relationship compared to the geared drives, and also confirm that asymmetric design alleviates the torque burden on the direct drives. © 2024 Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.

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A novel 6-dimensional force measurement based on the electric 6-DOF loading device

Sang,

Liao,

Chen

et al. 2024

Meas. Sci. Technol.

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The 6-degrees-of-freedom (6-DOF) platform has gained popularity in industry owing to its advantages, especially in indoor simulation experiment requiring 6-dimensional force environments. However, up to date, the measurement of such 6-dimensional forces is challenging due to complex structures, difficult decoupling, and high costs. In this study, an electric 6-DOF loading device designed by ourselves is presented, with an ability to load high precision displacement and force. To measure the 6-dimensional force of the device’s moving platform, this paper proposes a scheme involving embedding tension-compression sensors in each leg of the device and describes the mechanical model of the device. Then a novel method with a variable transformation matrix is proposed, complemented by a decoupling study that optimizes the variable transformation matrix. Finally, we validate the proposed method through an external force loading experiment. The results indicate that the error in Fy experiment is less than 2.7%, and the error in Fz experiment is less than 1.6%. The novel method exhibits high accuracy, easy installation, fast response, and low cost.

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

Cited by 10 publications

References 9 publications

Six-Axis Force Torque Sensor Model-Based In Situ Calibration Method and Its Impact in Floating-Based Robot Dynamic Performance

Six-Axis Force Torque Sensor Model-Based In Situ Calibration Method and Its Impact in Floating-Based Robot Dynamic Performance

A Six‐Axis Asymmetric Parallel Manipulator Co‐Driven by Direct‐Drive and Geared Motors for Enhanced Force‐Sensing Capability

A novel 6-dimensional force measurement based on the electric 6-DOF loading device

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