Force/torque sensor error correction procedure iteratively calculates corrections using simplified deflection model and measured force

摘要

A force/torque sensor error correction procedure iteratively (S1, 7) calculates the active element deflection using the measured force (S2) and prestored calibration matrix based on a simplified linearised deflection model and compares this with a theoretical deflection (S3) to create a correction value (S6) satisfying termination criteria (S8). Independent claims are included for force/torque sensors using the procedure.