Temperature Compensation Method of Six-Axis Force/Torque Sensor Using Gated Recurrent Unit

TL;DR

This paper introduces a temperature compensation method for a six-axis force/torque sensor using a Gated Recurrent Unit (GRU), improving accuracy over traditional MLP and Least Square methods by effectively handling temperature-induced drift.

Contribution

The study proposes a novel GRU-based temperature compensation technique for force/torque sensors, outperforming existing MLP and Least Square approaches in accuracy and real-time performance.

Findings

GRU-based method achieves higher accuracy than MLP.

The approach effectively compensates for temperature-induced drift.

Experimental results validate the superiority of the GRU method.

Abstract

This study aims to enhance the accuracy of a six-axis force/torque sensor compared to existing approaches that utilize Multi-Layer Perceptron (MLP) and the Least Square Method. The sensor used in this study is based on a photo-coupler and operates with infrared light, making it susceptible to dark current effects, which cause drift due to temperature variations. Additionally, the sensor is compact and lightweight (45g), resulting in a low thermal capacity. Consequently, even small amounts of heat can induce rapid temperature changes, affecting the sensor's performance in real time. To address these challenges, this study compares the conventional MLP approach with the proposed Gated Recurrent Unit (GRU)-based method. Experimental results demonstrate that the GRU approach, leveraging sequential data, achieves superior performance.