温度補償を組み込んだ6軸力覚センサのモデルベース現場校正
Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors
ひずみゲージ式6軸力覚センサの温度ドリフトをモデルベースの現場校正に組み込み、温度補償を可能にした研究。
著者: Francisco Javier Andrade Chavez, Gabriele Nava, Silvio Traversaro, Francesco Nori, Daniele Pucci
分類: cs.RO
原文アブストラクト
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 \textit{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 \textit{in situ} calibration of six axis force torque sensors method is extended to perform temperature compensation.
