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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