Force/torque sensor calibration method by using deep-learning

Author(s):  
Hyun Seok Oh ◽  
Gitae Kang ◽  
Uikyum Kim ◽  
Joon Kyue Seo ◽  
Won Suk You ◽  
...  
2018 ◽  
Vol 18 (13) ◽  
pp. 5485-5496 ◽  
Author(s):  
Hyun Seok Oh ◽  
Uikyum Kim ◽  
Gitae Kang ◽  
Joon Kyue Seo ◽  
Hyouk Ryeol Choi

2021 ◽  
Vol 2136 (1) ◽  
pp. 012004
Author(s):  
Lei Cheng ◽  
Yang Su ◽  
Lifang Wang

Abstract Remote calibration has the property of real-time and remote location, and can be used to control the calibration method for the calibration instrument. It is an effective method to improve the calibration efficiency. Based on the torque sensor calibration method for research, because the remote calibration technology has complex structure, calibration are not allowed to wait for a characteristic, through the remote technology combined with a torque sensor automatic calibration technology, analyze the torque sensor remote calibration technology research, which not only can improve the traditional calibration technology cycle is long, low efficiency of faults. Remote calibration technology based on the basic methods and characteristics are studied, by using the method of torque meter calibration, according to the characteristics of torque sensor, choose corresponding calibration program and method, which can effectively improve the technical problems in the process of system design and analysis of torque sensor remote calibration method research, in addition, through the analysis of electromagnetic interference technology research, which can restrain the interference is proposed; Finally, the remote calibration technology of the torque sensor is effectively improved through the calibration experiment of the system debugging.


Sensors ◽  
2018 ◽  
Vol 18 (10) ◽  
pp. 3485 ◽  
Author(s):  
Dongdong Chen ◽  
Peijiang Yuan ◽  
Tianmiao Wang ◽  
Ying Cai ◽  
Haiyang Tang

To enhance the perpendicularity accuracy in the robotic drilling system, a normal sensor calibration method is proposed to identify the errors of the zero point and laser beam direction of laser displacement sensors simultaneously. The procedure of normal adjustment of the robotic drilling system is introduced firstly. Next the measurement model of the zero point and laser beam direction on a datum plane is constructed based on the principle of the distance measurement for laser displacement sensors. An extended Kalman filter algorithm is used to identify the sensor errors. Then the surface normal measurement and attitude adjustments are presented to ensure that the axis of the drill bit coincides with the normal at drilling point. Finally, simulations are conducted to study the performance of the proposed calibration method and experiments are carried out on a robotic drilling system. The simulation and experimental results show that the perpendicularity of the hole is within 0.2°. They also demonstrate that the proposed calibration method has high accuracy of parameter identification and lays a basis for high-precision perpendicularity accuracy of drilling in the robotic drilling system.


Energies ◽  
2019 ◽  
Vol 12 (10) ◽  
pp. 1923
Author(s):  
Shuang Zhao ◽  
Jun Liu ◽  
Yansong Li

At present, most sensor calibration methods are off-line calibration, which not only makes them time-consuming and laborious, but also causes considerable economic losses. Therefore, in this study, an online calibration method of current sensors is proposed to address the abovementioned issues. The principle and framework of online calibration are introduced. One of the calibration indexes is angular difference. In order to accurately verify it, data acquisition must be precisely synchronized. Therefore, a precise synchronous acquisition system based on GPS timing is proposed. The influence of ionosphere on the accuracy of GPS signal is analyzed and a new method for measuring the inherent delay of GPS receiver is proposed. The synchronous acquisition performance of the system is verified by inter-channel synchronization experiment, and the results show that the synchronization of the system is accurate. Lastly, we apply our online calibration method to the current sensor; the experimental results show that the angular difference and ratio difference meet the requirements of the national standard and the accuracy of the online calibration system can be achieved to 0.2 class, demonstrating the effectiveness of the proposed online calibration method.


2014 ◽  
Vol 709 ◽  
pp. 496-499
Author(s):  
Yu Qin Li ◽  
Ying Jun Li ◽  
Huan Yong Cui ◽  
Gui Cong Wang ◽  
Xi Jie Tian

As a mechanical component, sensor can detect spatial information. Sensor technology has been widely used in national defense, aerospace, industrial inspection and automated production areas and so on. However, the sensor calibration device cannot meet the demand of the development of the sensor. In this paper, a multi-functional force loading device, which is of good technical performance, reliable operation, wide measurement range and simple measurement method, and a six-dimensional force sensor calibration method are described.


2014 ◽  
Vol 644-650 ◽  
pp. 1234-1239
Author(s):  
Tao He ◽  
Yu Lang Xie ◽  
Cai Sheng Zhu ◽  
Jiu Yin Chen

This template explains and demonstrates how to design a measurement system based on the size of the linear structured light vision, the system could works at realized the high precision and fast measurement of the size of mechanical parts, and accurate calibration of the system. First of all, this paper set up the experimental platform based on linear structured light vision measurement. Secondly, this paper established a system of measurement model, and puts forward a new method of calibration of structured light sensor and set up the mathematical model of sensor calibration. This calibration method only need to use some gage blocks of high precision as the target, the target position need not have a strict requirements, and the solving process will be more convenient, much easier to field use and maintenance. Finally, measuring accuracy on the system by gage blocks with high precision is verified, the experiment shows that measurement accuracy within 0.050 mmin the depth of 0-80 - mm range. This system can satisfy the demands of precision testing of most industrial parts .with its simple calibration process and high precision, it is suitable for the structured light vision calibration.


1997 ◽  
Vol 119 (2) ◽  
pp. 229-235 ◽  
Author(s):  
R. M. Voyles ◽  
J. D. Morrow ◽  
P. K. Khosla

We present a new technique for multi-axis force/torque sensor calibration called shape from motion. The novel aspect of this technique is that it does not require explicit knowledge of the redundant applied load vectors, yet it retains the noise rejection of a highly redundant data set and the rigor of least squares. The result is a much faster, slightly more accurate calibration procedure. A constant-magnitude force (produced by a mass in a gravity field) is randomly moved through the sensing space while raw data is continuously gathered. Using only the raw sensor signals, the motion of the force vector (the “motion”) and the calibration matrix (the “shape”) are simultaneously extracted by singular value decomposition. We have applied this technique to several types of force/torque sensors and present experimental results for a 2-DOF fingertip and a 6-DOF wrist sensor with comparisons to the standard least squares approach.


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