Analysis calibration system error of six-dimension force/torque sensor for space robot

Abstract

With the development of Chinese space technology, the space robot will take a critical function in the future. As one of the important intelligent sensors, six-dimension force/torque sensor (F/T sensor) is usually used in the space robot. The precision of F/T sensor is the most significant index. Not only the designing and optimizing mechanical structure of the F/T sensor has significant impact on the precision, but also the accuracy of the calibration system. In this paper, take the novel F/T sensor and the calibration system designed by HIT as an example, we analyse the calibration system error in theory and carry out experiment in the case of calibrating force Fz. It is helpful to design a better calibration system with high accuracy and improve the calibration precision of F/T sensor.