Model Based In Situ Calibration of Six Axis Force Torque Sensors

TL;DR

This paper introduces a model-based in situ calibration method for six-axis force torque sensors, leveraging robot models to improve calibration accuracy after installation, validated on iCub robot legs.

Contribution

It presents a novel in situ calibration approach that uses robot models to calibrate F/T sensors post-mounting, enhancing traditional calibration methods.

Findings

Calibration matrices improved accuracy on iCub robot legs

Method effectively utilizes robot model knowledge during calibration

Validated through experiments on humanoid robot sensors

Abstract

This paper proposes and validates an in situ calibration method to calibrate six axis force torque (F/T) sensors once they are mounted on the system. This procedure takes advantage of the knowledge of the model of the robot to generate the expected wrenches of the sensors during some arbitrary motions. It then uses this information to train and validate new calibration matrices, taking into account the calibration matrix obtained with a classical Workbench calibration. The proposed calibration algorithm is validated on the F/T sensors mounted on the iCub humanoid robot legs.