Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors
Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors
复制标题
基于模型的 6 轴力扭矩传感器带温度补偿的现场校准
DOI：
10.1109/icra.2019.8794382
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
D. Pucci
中科院分区：
文献类型：
--
作者：
Francisco Javier Andrade Chavez;Gabriele Nava;Silvio Traversaro;F. Nori;D. Pucci
众所周知，使用应变仪的传感器具有对温度的潜在依赖性。这会在六轴力/扭矩传感器（F/T）的测量中产生温度漂移。如果实验时间较长或环境条件与进行传感器校准时不同，则温度漂移可能相当大。其他原位方法忽略了温度对传感器测量的影响。使用仿人机器人平台iCub进行的实验表明，温度的影响是相关的。将基于模型的六维力/力矩传感器现场标定方法推广到温度补偿。
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 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 in situ calibration of six axis force torque sensors method is extended to perform temperature compensation.