Torque sensor calibration using virtual load for a manipulator

Sang Hyuk Lee, Young Loul Kim, Jae Bok Song

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


Accurate load sensing of a manipulator becomes increasingly important in performing various tasks involving contact with an environment. Most of the research has been focused on improving the hardware of a force torque sensor. The torque sensors for a manipulator suffer from crosstalk, which is difficult to compensate for even with sophisticated calibration. This research proposed a novel calibration method composed of two steps. Through the primary calibration, the torque sensor output can be related to the joint torques. The secondary calibration, which is based on a virtual load, is conducted to compensate for the crosstalk of a torque sensor. The virtual load is obtained from the sensed joint torques and manipulator configuration. Using the proposed calibration method, the external load acting on the end-effector of a manipulator can be accurately measured even with relatively lowquality torque sensors. The experimental results showed that the error in the load sensing was significantly reduced by the proposed calibration method.

Original languageEnglish
Pages (from-to)219-225
Number of pages7
JournalInternational Journal of Precision Engineering and Manufacturing
Issue number2
Publication statusPublished - 2010 Apr

Bibliographical note

Funding Information:
This work was supported by the Center for Autonomous Intelligent Manipulation under Human Resources Development Program for Robot Specialists (Ministry of Knowledge Economy).


  • Calibration
  • Crosstalk
  • Manipulator
  • Torque sensor

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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