ArticleSensors (Basel, Switzerland)2021
An Integrated Compensation Method for the Force Disturbance of a Six-Axis Force Sensor in Complex Manufacturing Scenarios.
Article in Sensors (Basel, Switzerland), 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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Who cites it
3 citing papers in PubMed.
- Haptic and Palpation Sensing for Robotic Surgery: Engineering Perspectives on Design and Integration.Sensors (Basel, Switzerland) · 2026Article
- A Universal Tool Interaction Force Estimation Approach for Robotic Tool Manipulation.Sensors (Basel, Switzerland) · 2025Article
- Accuracy Analysis and Experimental Study of a Six-Dimensional Force Sensor with Circular Flexible Spherical Joints.Sensors (Basel, Switzerland) · 2023Article
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Authors and funding
5 authors.
Funding
Abstract
As one of the key components for active compliance control and human-robot collaboration, a six-axis force sensor is often used for a robot to obtain contact forces. However, a significant problem is the distortion between the contact forces and the data conveyed by the six-axis force sensor because of its zero drift, system error, and gravity of robot end-effector. To eliminate the above disturbances, an integrated compensation method is proposed, which uses a deep learning network and the least squares method to realize the zero-point prediction and tool load identification, respectively. After that, the proposed method can automatically complete compensation for the six-axis force sensor in complex manufacturing scenarios. Additionally, the experimental results demonstrate that the proposed method can provide effective and robust compensation for force disturbance and achieve high measurement accuracy.
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