Abstract
This paper proposes a method for estimating the force/torque sensor bias, and the parameters of the load(including the gravity component and the center of mass). We set the 6-axis force/torque sensor between robot and the end-effector, so that we can estimate the sensor bias and the parameters by reading data of sensor in 8 sets of robot orientations. These estimates can be subtracted from the sensor readings, in order to improve the accuracy of the force/torque measurements. In addition, this paper verifies that the installation angle bias of robot will increase measurement deviation. The experiments show that the error of resulting force compensation is not more than 3.1% of the gravity of the load, and the error of resulting torque compensation is not more than 6.1% of the gravitational torque. Moreover, considering the installation angle bias of robot, the measurements of sensor will be more accurate.
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Acknowledgments
The authors would like to gratefully acknowledge the reviewers’ comment. This work is supported by National Natural Science Foundation of China (Grant Nos. 51575187, 91223201),Science and Technology Program of Guangzhou (Grant No. 2014Y2-00217), the Fundamental Research Funds for the Central University (Fund No. 2015ZZ007) and Natural Science Foundation of Guangdong Province (S2013030013355).
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Wang, N., Zhou, J., Zhang, X. (2018). Research on the Estimation of Sensor Bias and Parameters of Load Based on Force-Feedback. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10984. Springer, Cham. https://doi.org/10.1007/978-3-319-97586-3_36
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DOI: https://doi.org/10.1007/978-3-319-97586-3_36
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