Papers › On the Calibration of Force/Torque Sensors in Robotics
On the Calibration of Force/Torque Sensors in Robotics
Fredrik Bagge Carlson
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
We present and analyze methods for the kinematic and kinetostatic calibration of, typically, wrist mounted force/torque sensors in robotics. The algorithms are based on matrix factorization and require no special equipment. The only requirement is the ability to reorient the sensor and to measure its orientation in a fixed coordinate system, such as through the forward kinematics of a robot manipulator, or using an external tracking system. We present methods to find the rotation matrix between the coordinate system of the sensor and that of the tool flange, the mass held by the force sensor at rest, the vector to the center of gravity of this mass and the gravitational acceleration vector.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections