Simple Force Calibration Method for Industrial Robots by Dual-axis Rotation

In order to realize a flexible automation system, we generally introduce several sensors to monitor states in the system and to handle a ``uncertainty'' such as tolerance, obstacles, position error. When we set up the robot system with sensors in a real factory, we have not so much time to calibrate and set up the sensors. Therefore, we should set up sensors in a quite simple and practical way. In this paper, we developped a simple calibration method for estimating precisely actual reaction forces from the sensor outputs. After executing the proposed calibration method, we achieved to eliminate outliers from sensor outputs in a practical short time.