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Joint Torque Sensor


Low cost Force/Torque Sensor
  • Research Background 
       - As robots are required to perform tasks involving contact with the environment, accurate sensing of the
         external load at the end-effector of manipulators is increasingly important.
  • Research Objectives
        - Low-cost F/T sensing system based on strain gauge
        - Automatic calibration algorithm for compensation of cross-torque error
        - Force control algorithm using the low-cost F/T sensing system
                

  • Calibration algorithm - Actual sensing frame method
           - Crosstalk calibration algorithm using coordinate frame transformation method
           - Coordinate transformation from nominal sensing frame to actual sensing frame
           - Nominal sensing frame: strain gauge is supposed to generate the force or torque components
           - Actual sensing frame: strain gauge actually generates the force or torque components