The ability to obtain accurate torque information and detect collision information is the key demand for collaborative robots. Given the highly integrated modular joint, the joint torque-sensing system is disturbed by other elements during online measurement, affecting the accuracy of measurement. For example, the torque ripple caused by the periodic deformation of the flexspline of the harmonic driver and the temperature drift due to the heating of motor are the two main factors affecting the measurement of the torque sensor. In this study, a torque sensor suitable for a modular joint is developed. Moreover, a strain gauge configuration based on a specified phase difference for torque ripple cancelation and a temperature compensation method based on the combination of the Wheatstone bridge and a nonlinear model are proposed. Finally, the performance of the developed sensor is experimentally evaluated.

中文翻译：

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协作机器人模块化关节扭矩传感器的干扰消除

获得准确的扭矩信息和检测碰撞信息的能力是协作机器人的关键需求。鉴于高度集成的模块化接头，在在线测量期间，接头扭矩传感系统会受到其他因素的干扰，从而影响测量精度。例如，由谐波驱动器的挠性花键的周期性变形引起的转矩脉动和由于电动机的发热引起的温度漂移是影响转矩传感器的测量的两个主要因素。在这项研究中，开发了适用于模块化接头的扭矩传感器。此外，提出了一种基于特定相位差的扭矩计消除用应变仪配置，以及基于惠斯通电桥和非线性模型组合的温度补偿方法。最后，