Method for calibrating multi-axis force torque sensor, and apparatus therefor

A calibration method for a multi-axis force/torque sensor configured to have n axes and to have n/2 of the axes measure force in a vertical direction and n/2 of the axes measure torque in a horizontal direction, the method comprising:

• preparing test reference data for the multi-axis force/torque sensor;
• obtaining sensor output value measured on the n axes of the multi-axis force/torque sensor by inputting the test reference data as first input value;
• calculating a linear relationship between the first input value and the sensor output value on each axis for forces and torques;
• and
• calculating second input value corresponding to the sensor output value based on the linear relationship and calculating a correlation matrix equation according to correlations between respective axes by comparing the second input value with the first input value.

A sensor calibration apparatus for a multi-axis force/torque sensor configured to have n axes and to measure a force in a vertical direction on n/2 axes and to measure a torque in a horizontal direction on n/2 axes, wherein n is an integer greater than or equal to 2, the sensor calibration apparatus comprising:

• a test reference data DB configured to store test reference data for testing the multi-axis force/torque sensor;
• a test pressurizer configured to apply a force or a torque to each axis of the multi-axis force/torque sensor in response to first input value provided from the test reference data DB;
• a multi-axis sensor value detector and storage for individually detecting and storing sensor output values from the multi-axis force/torque sensor according to the force or torque applied by the test pressurizer for each axis;
• a multi-axis linear function generator configured to calculate a linear relationship between the first input value and the sensor output value on each axis for forces and torques by using the sensor output value;
• and
• an inter-axis correlation matrix generator configured to calculate a correlation matrix equation according to correlations between respective axes by calculating second input value corresponding to the sensor output value based on the linear relationship, and then comparing the second input value with the first input value.