Static Compensation for Wrist Mounted Force Torque Sensor

被引：0
作者：
Tauro, Ricardo A. [1 ]
Kaiser, Benedikt [1 ]
Woern, Hein [1 ]
机构：
[1] Univ Karlsruhe, Inst Proc Control & Robot, D-76128 Karlsruhe, Germany
来源：
2009 INTERNATIONAL CONFERENCE ON INTELLIGENT ENGINEERING SYSTEMS | 2009年
关键词：
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper presents and evaluates a new technique for the calibration and compensation of static error of force/torque (F/T) sensors. The presented approach is based on a learning algorithm. A Modified Nearest Neighbor algorithm is presented to compensate non-linear errors, produced by the weight of the end effector or by the internal offset of a wrist mounted F/T sensor of a 6 degree of freedom (DOF) industrial robot.
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页码：105 / 109
页数：5
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