2019/04/12 by Fredrik Bagge Carlson, Carlson, Fredrik Bagge
Engineering · #Dynamics and Control of Mechanical Systems #FOS: Computer and information sciences #Robot Manipulation and Learning #Robotic Mechanisms and Dynamics #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.1904.06158
openalex publication_date 2019/04/12 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We present and analyze methods for the kinematic and kinetostatic calibration of, typically, wrist mounted force/torque sensors in robotics. The algorithms are based on matrix factorization and require no special equipment. The only requirement is the ability to reorient the sensor and to measure its orientation in a fixed coordinate system, such as through the forward kinematics of a robot manipulator, or using an external tracking system. We present methods to find the rotation matrix between the coordinate system of the sensor and that of the tool flange, the mass held by the force sensor at rest, the vector to the center of gravity of this mass and the gravitational acceleration vector.