Calibration of 6 axis force/torque sensor by using deep-learning method

摘要

The force/torque sensor is a important tool that gives a robot an ability to interact with environments. Calibration is essential for these force/torque sensors to convert the raw sensor values to accurate forces and torques. However, in practice, the multi-axis force/torque sensor requires complex multi-step data processing, because of the coupling effects and nonlinearity of sensors. Moreover, accuracy is not guaranteed. To solve this problem, we propose an accurate force/torque sensor calibration method that can calibrate the sensor in single step by using deep-learning algorithm, and introduce the method for modeling the DNN(deep neural network) used in this calibration process. In addition, we verify the calibration results through several experiments.