CN114034429B - Moment sensor calibration device and method, moment sensor calibration system and robot calibration system - Google Patents
Moment sensor calibration device and method, moment sensor calibration system and robot calibration system Download PDFInfo
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- CN114034429B CN114034429B CN202111233035.6A CN202111233035A CN114034429B CN 114034429 B CN114034429 B CN 114034429B CN 202111233035 A CN202111233035 A CN 202111233035A CN 114034429 B CN114034429 B CN 114034429B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
- G01L25/003—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency for measuring torque
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Abstract
The invention relates to a moment sensor calibration device, a moment sensor calibration method, a moment sensor calibration system and a moment sensor calibration system. The torque sensor calibration device comprises a swing arm and a support, wherein the torque sensor comprises a fixed end and a movable end, the fixed end of the torque sensor is fixedly connected to the support, the movable end of the torque sensor comprises a rotating shaft, the swing arm is arranged at the movable end of the torque sensor and comprises a swing arm fixing seat and a swing arm body, the swing arm body is connected with the swing arm fixing seat, the swing arm fixing seat is used for connecting the movable end of the torque sensor, the swing arm body is used for connecting a reference load, and the swing arm body extends along the first radial direction of the rotating shaft; the torque sensor calibration device further includes a vial disposed in a second diametric direction of the rotation shaft, the second diametric direction being derived from the counterclockwise rotation target angle of the first diametric direction. The torque sensor calibration device can simply, rapidly and directly judge the angle between the swing arm and the horizontal plane, and has low processing and using costs.
Description
Technical Field
The present invention relates to the field of robot calibration technologies, and in particular, to a moment sensor calibration device, a moment sensor calibration method, a moment sensor calibration system, and a moment sensor calibration system.
Background
With the development of robot technology, a man-machine cooperation type mechanical arm is paid more attention to, and a robot joint is an important ring in the man-machine cooperation type mechanical arm, so that the robot joint plays a very important role in the operation precision of the mechanical arm. Therefore, a moment sensor is arranged in the robot joint, the moment sensor can transmit moment on one hand, and can measure moment on the other hand, and the difference between the measured actual moment and the theoretical moment is calculated, so that a person skilled in the art can adjust the man-machine cooperation type mechanical arm according to the difference, and the man-machine cooperation type mechanical arm can accurately reach a preset position.
Therefore, in order to enable the man-machine cooperation type mechanical arm to operate accurately, calibration of the torque sensor in the robot joint becomes an important point. In the prior art, when the moment sensor is calibrated, one end of the moment sensor is fixedly arranged on the bracket, and the supporting arm is arranged on the transmission shaft at the other end of the moment sensor. The support arm is then adjusted to the horizontal plane and maintained at a plurality of predetermined angles, and different weights of test objects are mounted on the ends of the support arm. The moment value obtained by directly measuring the moment sensor is compared with the theoretical moment obtained by calculating according to the actual mounting condition, so that whether the moment sensor needs to be calibrated or not can be judged.
However, in the calibration method of the moment sensor in the prior art, when the angle between the supporting arm and the horizontal plane is adjusted, most of the person skilled in the art can only adjust the supporting arm in a manner of visual observation with large errors, so that a certain error is generated in the measurement result of the moment, and the calibration accuracy of the moment sensor is adversely affected.
Disclosure of Invention
Based on the above, it is necessary to provide a calibration device, a calibration method, a calibration system and a calibration system for a torque sensor, aiming at the problem of larger error in the calibration process of the torque sensor in the prior art.
The first aspect of the invention discloses a moment sensor calibration device, which comprises a swing arm and a bracket, wherein the moment sensor comprises a fixed end and a movable end, the fixed end of the moment sensor is fixedly connected to the bracket, the movable end of the moment sensor comprises a rotating shaft, the swing arm is arranged at the movable end of the moment sensor,
The swing arm comprises a swing arm fixing seat and a swing arm body, the swing arm body is connected with the swing arm fixing seat, the swing arm fixing seat is used for being connected with a movable end of the moment sensor, the swing arm body is used for being connected with a reference load, and the swing arm body extends along a first diameter direction of the rotating shaft;
The torque sensor calibration device further comprises a level bubble arranged in a second diameter direction of the rotating shaft, wherein the second diameter direction is obtained by a counterclockwise rotation target angle in the first diameter direction.
In one embodiment, the torque sensor calibration device further comprises an angle marking device capable of indicating an angle between the second diameter direction and the first diameter direction.
In one embodiment, the angle marking means is an angle dial centered on the rotation axis.
In one embodiment, the vials are adhesively or magnetically attached to the swing arm.
In one embodiment, the swing arm is provided with one or more mounting grooves arranged radially along the rotation axis, in which the vials can be arranged.
In one embodiment, the vials are more than one.
In one embodiment, the swing arm is provided with a plurality of hanging holes, the hanging holes are sequentially distributed in the first radial direction, and distances from the hanging holes to the rotating shaft are different.
The second aspect of the invention discloses a method for calibrating a torque sensor, which uses any of the torque sensor calibration devices described above, and comprises the following steps:
(1) Rotating the swing arm to enable the level bubble of the target angle to be in a horizontal state;
(2) Connecting a reference load to the swing arm, and obtaining a sensor moment value measured by a moment sensor and a theoretical moment value calculated according to the actual load condition;
(3) Calculating the difference between the sensor moment value and the theoretical moment value,
(4) Judging whether the difference value is within a threshold value or not; and (3) returning to the step (1) if the difference value is within the threshold value, and adjusting the moment sensor if the difference value is not within the threshold value.
The third aspect of the invention discloses a torque sensor calibration system, comprising any of the torque sensor calibration devices described above, and:
The interaction module is used for acquiring a reference load, an angle between the swing arm and the horizontal plane, a distance between a connecting end of the reference load and the rotating shaft and a threshold value;
The first control module is connected with the moment sensor and acquires a measured moment value of the sensor;
The second control module is connected with the interaction module and calculates a theoretical moment value according to a reference load in the interaction module, a distance from the reference load to the rotating shaft and an angle between the swing arm and the horizontal plane;
And the third control module is respectively connected with the first control module, the second control module and the interaction module, acquires and calculates the difference value between the sensor moment value and the theoretical moment value, and compares the difference value with the threshold value in the interaction module.
The fourth aspect of the invention discloses a robot calibration system comprising the moment sensor calibration system.
Advantageous effects
According to the moment sensor calibration device, an angle measurement device is not required to measure the included angle between the swing arm and the horizontal plane, but whether the swing arm rotates to the target angle is judged by arranging the radially extending level bubble which forms the target angle with the swing arm and observing whether the level bubble is in a horizontal state or not. The structural design of the torque sensor calibration system enables a person skilled in the art to simply, rapidly and directly judge the angle between the swing arm and the horizontal plane, and the processing and using costs are low.
Drawings
FIG. 1 is a schematic diagram of a torque sensor calibration device according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a swing arm of a torque sensor calibration device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a torque sensor calibration apparatus according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for calibrating a torque sensor according to an embodiment of the invention;
FIG. 5 is a schematic diagram of a torque sensor calibration system according to an embodiment of the invention;
wherein 100 is a swing arm, 200 is a bracket, 300 is a moment sensor, 101 is a swing arm fixing seat, 102 is a swing arm body, 103 is a level bubble, and 104 is a hanging hole.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Fig. 1 is a schematic diagram of a torque sensor calibration device according to the present invention, where the torque sensor calibration device includes a swing arm 100 and a bracket 200, the torque sensor 300 includes a fixed end and a movable end, the fixed end of the torque sensor 300 is fixedly connected to the bracket 200, the movable end of the torque sensor 300 includes a rotating shaft, which can rotate around the rotating shaft as a rotation center, the swing arm 100 is mounted on the movable end of the torque sensor 300, and the swing arm 100 can rotate around the rotating shaft as a rotation center along with the movable end of the torque sensor 300. As shown in fig. 2, the swing arm 100 according to the present invention includes a swing arm fixing base 101 and a swing arm body 102, the swing arm body 102 is connected to the swing arm fixing base 101, the swing arm fixing base 101 is used for connecting a movable end of the torque sensor 300, the swing arm body 102 is used for connecting a reference load, and the swing arm body 102 extends along a first radial direction of the rotating shaft. The movable end of the torque sensor 300 drives the swing arm fixing seat 101 to rotate, and drives the swing arm body 102 to rotate at a certain angle with the horizontal direction.
For convenience of explanation, the counterclockwise rotation angle is defined as positive and the clockwise rotation angle is defined as negative. In order to ensure that the swing arm body 102 can be accurately adjusted to form a target angle with the horizontal direction, the torque sensor calibration device of the present invention should further include a level bubble 103, where the level bubble 103 can indicate that the level bubble is in a horizontal state, and the level bubble 103 is disposed in a second diameter direction of the rotating shaft, where the second diameter direction is obtained by rotating the first diameter direction by a target angle along the first rotation direction.
For example, in the embodiment shown in fig. 3, the target angle between the swing arm body 102 and the horizontal direction is-30 degrees, and then the second diameter direction of the vial 103 should be set to be 30 degrees of counterclockwise rotation from the first diameter direction of the swing arm body 102.
This is because, since the vial 103 moves in synchronization with the swing arm body 102, if it is desired to rotate the swing arm body 102 30 degrees clockwise from the horizontal, it is also desired to rotate the vial 103 30 degrees clockwise. In the technical solution of this embodiment, since the vial 103 is disposed at a position rotated 30 degrees counterclockwise from the first radial direction in which the swing arm body 102 is located, and the swing arm body 102 is initially in a horizontal direction, when the vial 103 starts to rotate and the rotated vial 103 shows that it is in a horizontal state, it is indicated that the vial 103 is rotated 30 degrees clockwise, and at this time, the swing arm body 102 is also rotated 30 degrees clockwise with respect to the horizontal direction, that is, the target angle-30 degrees between the swing arm body 102 and the horizontal direction is achieved, thereby achieving accurate adjustment of the swing arm body 102.
As can be easily understood from the above embodiments, the moment sensor calibration device according to the present invention does not need to use an angle measurement device to accurately measure the angle between the swing arm body 102 and the horizontal plane, but selects to set the level bubble 103 on the swing arm 100 at a position having a specified included angle with the swing arm body 102, and determines whether the swing arm body 102 rotates to a specified angle by observing whether the level bubble 103 reaches a horizontal state. The angle judgment method of the torque sensor calibration device is simple, quick and direct, basically has no possibility of misoperation, and provides a high-precision angle judgment method on the premise of ensuring low processing and using cost, so that the torque sensor calibration device can calibrate the torque sensor more accurately.
It can be appreciated that, in order to facilitate the rotation of the swing arm body 102 to a target angle, the torque sensor calibration device of the present invention is provided with an angle marking device, where the angle marking device can indicate an included angle between the second diameter direction and the first diameter direction. It is obvious that the angle marking means have a plurality of implementations. In some embodiments, the angle marking device is an angle dial with the rotation axis as a center, and the first diameter direction of the swing arm body 102 has a definite scale on the angle dial, so that the scale on which the second diameter direction of the level bubble 103 should be located can be found on the angle dial according to the angle of the swing arm body 102 that needs to be rotated. Specifically, the angle marking device is disposed on the swing arm fixing base 101.
It will be appreciated that the torque sensor calibration device of the present invention is not limited to the connection of the vial 103 and the swing arm 100. In some embodiments, the vial 103 is bonded to the swing arm 100, and in other embodiments, the vial 103 and the swing arm 100 may be magnetically coupled. Still alternatively, in some embodiments as shown in fig. 2, the swing arm 100 may be provided with a mounting groove radially disposed along the rotation axis, and the vial 103 may be disposed in the mounting groove. The mounting groove can be obtained by machining the swing arm 100, and the angle accuracy is high, so that the mounting groove scheme can ensure stable mounting of the level bubble 103 and ensure that the level bubble 103 is positioned at an accurate angle, and the requirements on usability and accuracy of the torque sensor calibration device are effectively met.
It should be noted that, according to the torque sensor calibration device disclosed by the invention, the target angles between the swing arm body and the horizontal direction can be obviously more than one, and whether the torque sensor needs to be calibrated can be more comprehensively judged through the calibration test of multiple target angles. As shown in fig. 2, for example, the above-mentioned vials 103 are mounted by a plurality of mounting grooves, which are respectively located at target angular positions of 0 degrees or 30 degrees or 45 degrees or 60 degrees or 90 degrees with respect to the first radial direction. By providing the leveling bubble 103 in the foregoing mounting groove, the person skilled in the art can quickly and accurately adjust the swing arm body 102 to 0 degrees, 30 degrees, 45 degrees, 60 degrees or 90 degrees with respect to the horizontal direction, which enables the person skilled in the art to quickly and continuously perform multi-angle calibration test on the torque sensor by using the torque sensor calibration device of the present invention. Of course, the mounting groove can be arranged at other angular positions as required, and the accuracy of the torque sensor can be fully verified by continuously changing the included angle between the swing arm body 102 and the horizontal plane in the test. It is obvious that the number of vials 103 may be more than one. For example, only a single vial 103 may be used, and one skilled in the art may adjust the swing arm body 102 to a target angle for a different mounting slot by switching the vial 103 among the different mounting slots. Or a person skilled in the art can correspondingly set a plurality of vials 103 in a plurality of mounting grooves respectively, when the swing arm body 102 needs to be adjusted to a target angle, the display condition of the horizontal state of the vials 103 in the mounting groove at the corresponding target angle can be directly observed, and the operation is effectively simplified. Specifically, in some embodiments, as shown in fig. 2, the swing arm body 102 of the torque sensor calibration device of the present invention is provided with a plurality of hanging holes 104, where the hanging holes 104 are used for connecting a reference load for testing, the plurality of hanging holes 104 are sequentially arranged in the first radial direction, and distances from the plurality of hanging holes 104 to the rotating shaft are different. By connecting the reference load to different hanging holes 104, the length of the arm of force of the reference load relative to the rotating shaft can be adjusted, so that the test moment of the moment sensor can be changed, the number of times of calibration experiments of the moment sensor can be increased, and the accuracy of the moment sensor can be improved.
In another aspect, the present invention discloses a method for calibrating a torque sensor, using the foregoing torque sensor calibration device, as shown in fig. 4, including the following steps:
(1) Rotating the swing arm 100 to make the level bubble 103 of the target angle appear in a horizontal state;
(2) Connecting a reference load to the swing arm 100, and acquiring a sensor moment value measured by a moment sensor and a theoretical moment value calculated according to an actual load condition;
(3) Calculating the difference between the sensor moment value and the theoretical moment value,
(4) Judging whether the difference value is within a threshold value or not; and (3) returning to the step (1) if the difference value is within the threshold value, and adjusting the moment sensor if the difference value is not within the threshold value.
For example, in some embodiments, the two vials include a first target angle vial and a second target angle vial, where the first radial direction of the two vials is rotated 30 degrees and 60 degrees counterclockwise from the second radial direction of the swing arm body 102, respectively, the reference load is a weight in this embodiment, and the length of the connecting end of the reference load on the swing arm body 102 from the rotating shaft is 0.8m. After the torque sensor is mounted in the torque sensor calibration device of the present invention, the swing arm 100 is first adjusted to rotate the swing arm body 102, and at this time, the first target angle vial and the second target angle vial also start to rotate. First, the first target angle bubble is adjusted to be in a horizontal state, and the swing arm body 102 is kept at-30 degrees from the horizontal direction. The reference load is connected to the swing arm body 102 in this state, and the moment sensor measures the moment value of the first sensor at this time. Since the angle of the swing arm body 102 is determined to be-30 degrees at this time, the length from the reference load to the rotation shaft, that is, the first moment arm length in this state, can also be determined to be 0.8xcos 30 °, and the first theoretical moment value can be easily calculated according to the calculation formula of moment m=reference load M x moment arm L. The first theoretical moment value is compared with the moment value of the first sensor, the difference value is calculated, the difference value is compared with a preset threshold range, and if the difference value is not in the threshold range, the moment sensor is proved to be required to be calibrated, if the difference value is in the threshold range, the moment sensor is proved to be not required to be calibrated at the first target angle, the second target angle bubble can be further regulated to be in a horizontal state, the swing arm body 102 in the state is further connected with a reference load, and therefore the second theoretical moment value can be further calculated and compared with the moment value of the second sensor, and whether the moment sensor is accurate in the state is judged.
The present invention further discloses a torque sensor calibration system, as shown in fig. 5, including the foregoing torque sensor calibration device, a first control module, a second control module, a third control module, and an interaction module, where the interaction module is configured to obtain a reference load, an angle between the swing arm body 102 and a horizontal plane, a distance between the reference load and a rotation axis, and a threshold value, the first control module is electrically connected to the torque sensor, the first control module is configured to obtain a sensor torque value measured by the torque sensor, the second control module is connected to the interaction module, and is configured to calculate a theoretical torque value according to weight information of the reference load in the interaction module, an angle between the swing arm body 102 and the horizontal plane, and a distance between a connection end of the reference load and the rotation axis, and the third control module is respectively connected to the first control module, the second control module, and the interaction module, and the third control module reads the sensor torque value in the first control module, compares with the theoretical torque value in the second control module, and determines whether the difference value is within the threshold value in the interaction module.
In some embodiments, the interaction module is a memory, and the person skilled in the art inputs the preset reference load information, the angle of the swing arm body 102 with the horizontal plane, the distance from the reference load connection end to the rotation axis, and the threshold value into the memory. The second control module reads the information in the memory and calculates a theoretical moment value according to the information. The moment sensor calibration device is set by a person skilled in the art according to preset information, a first control module is connected with the moment sensor and acquires a sensor moment value of the moment sensor at the moment, and a third control module compares the sensor moment value with a theoretical moment value and judges whether a difference value of the sensor moment value and the theoretical moment value is in a range of a threshold value or not.
Through the torque sensor calibration system, a person in the field does not need to manually calculate a theoretical torque value any more, and does not need to manually judge whether the difference value between the theoretical torque value and the torque value of the sensor meets the threshold requirement, so that the operation flow of the person in the field is greatly simplified, errors possibly caused by manual operation are effectively avoided, and the calibration of the torque sensor is more accurate.
The invention further discloses a robot calibration system, which comprises the moment sensor calibration system. By fusing the moment sensor calibration system into the robot calibration system, the robot calibration efficiency can be effectively improved, the robot operation accuracy is improved, and therefore the working efficiency of the robot caused by operation errors is effectively avoided, and even the safety accidents of property and personnel are avoided.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. The torque sensor calibration device is characterized by comprising a swing arm and a bracket, wherein the torque sensor comprises a fixed end and a movable end, the fixed end of the torque sensor is fixedly connected to the bracket, the movable end of the torque sensor comprises a rotating shaft, the swing arm is arranged at the movable end of the torque sensor,
The swing arm comprises a swing arm fixing seat and a swing arm body, the swing arm body is connected with the swing arm fixing seat, the swing arm fixing seat is used for being connected with a movable end of the moment sensor, the swing arm body is used for being connected with a reference load, and the swing arm body extends along a first diameter direction of the rotating shaft;
The torque sensor calibration device further comprises a level bubble, wherein the level bubble is arranged in a second diameter direction of the rotating shaft, and the second diameter direction is obtained by rotating the first diameter direction by a target angle along a first rotating direction;
The swing arm is provided with one or more mounting grooves which are arranged along the radial direction of the rotating shaft, and the level bubble can be arranged in the mounting grooves; the swing arm is provided with a plurality of hanging holes, the hanging holes are sequentially distributed in the first radial direction, and distances from the hanging holes to the rotating shaft are different.
2. The torque sensor calibration device of claim 1, further comprising an angle marking device capable of indicating an angle between the second diametric direction and the first diametric direction.
3. The torque sensor calibration device according to claim 2, wherein the angle marking means is an angle dial centered on the rotation axis.
4. The torque sensor calibration device of claim 1, wherein the vials are adhesively or magnetically attached to the swing arm.
5. The torque sensor calibration device of claim 1 wherein said vial is more than one.
6. A method of calibrating a torque sensor, characterized in that a torque sensor calibration device according to any of claims 1-5 is used, comprising the steps of:
(1) Rotating the swing arm to enable the level bubble of the target angle to be in a horizontal state;
(2) Connecting a reference load to the swing arm, and obtaining a sensor moment value measured by a moment sensor and a theoretical moment value calculated according to the actual load condition;
(3) Calculating the difference between the sensor moment value and the theoretical moment value,
(4) Judging whether the difference value is within a threshold value or not; and (3) returning to the step (1) if the difference value is within the threshold value, and adjusting the moment sensor if the difference value is not within the threshold value.
7. A torque sensor calibration system comprising the torque sensor calibration device of any one of claims 1-5, and:
The interaction module is used for acquiring a reference load, an angle between the swing arm and the horizontal plane, a distance between a connecting end of the reference load and the rotating shaft and a threshold value;
The first control module is connected with the moment sensor and acquires a measured moment value of the sensor;
The second control module is connected with the interaction module and calculates a theoretical moment value according to a reference load in the interaction module, a distance from the reference load to the rotating shaft and an angle between the swing arm and the horizontal plane;
And the third control module is respectively connected with the first control module, the second control module and the interaction module, acquires and calculates the difference value between the sensor moment value and the theoretical moment value, and compares the difference value with the threshold value in the interaction module.
8. A robotic calibration system comprising the torque sensor calibration system of claim 7.
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