A Crosstalk Compensation of a Multi-axis ForceTorque Sensor Based on the Least Squares Method Using LabVIEW

Abstract

We present a technique for a crosstalk compensation of a multi-axis force and torque sensor. Multi-axis sensor generates coupled output signals inevitably because of the coupled structure or manufacturing errors. In order to minimize crosstalk in output signals, a compensation matrix which decouples the output signals is required. In this paper, the compensation matrix based on the least squares method will be derived. The LabVIEW is used in the experiment because the flexibility of LabVIEW makes the creation of user-friendly data acquisition (DAQ) programs and compensation algorithm. Finally, we will compare the performances of the multi-axis force/torque sensor before and after using compensation matrix in order to confirm the effect of this method.