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The output of a six-axis force/torque sensor (F/T sensor) not only varies with force or torque but also is affected by ambient temperature. In order to check the effects of temperature drift on the measurement precision of the sensor, this paper carried out experiments to obtain the quantitative results without loading the force and torque. In detail, three methods, including the least square method,...
Not only output of the six-dimension force/torque sensor changes with force or torque, but also be susceptible to ambient temperature, thus limiting measurement accuracy of the sensor. In order to overcome the above drawbacks of six-dimension force/torque sensor, this paper proposes a temperature compensation method based on Radial Basis Function (RBF) Neural Network. Compared with the conventional...
A highly integrated joint controller using in a humanoid robot arm has been developed in the paper. The joint controller is highly integrated with position sensors — the hall sensors, the magnetic sensor and the photoelectrical sensor, the torque sensors, the temperature sensor and so on. Besides, it can control and drive the motor in PWM and SVPWM modes. What is more, the joint controller has been...
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