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1. (WO2018200668) FORCE/TORQUE SENSOR TEMPERATURE COMPENSATION

Pub. No.:    WO/2018/200668    International Application No.:    PCT/US2018/029351
Publication Date: Fri Nov 02 00:59:59 CET 2018 International Filing Date: Thu Apr 26 01:59:59 CEST 2018
IPC: G01L 19/04
G01L 1/22
G01L 3/14
Applicants: ATI INDUSTRIAL AUTOMATION, INC.
Inventors: FLEISSNER, David
GLUSIEC, Andrew
Title: FORCE/TORQUE SENSOR TEMPERATURE COMPENSATION
Abstract:
Strain gages on a robotic force/torque sensor are individually temperature compensated prior to resolving the gage outputs to estimate force and torque loads on the sensor. Thermal sensors are mounted proximate each strain gage, and the initial gate and thermal sensor outputs at a known load and temperature are obtained. The force/torque sensor then undergoes warming, and strain gage and thermal sensor outputs are again obtained. These gage and thermal sensor outputs are processed to calculate coefficients to a temperature compensation equation, such as by using a least squares algorithm. Each strain gage output is compensated using the temperature compensation equation, and the temperature-compensated outputs of the strain gages are then combined to resolve temperature-compensated force and torque values.