INTRODUCTION TO

FORCE TORQUE SENSORS

Updated 2014-09-09
IN THIS LESSON

What is a force torque sensor?

What are the typical specifications

for these sensors?
Robotic Force Torque Sensor

In robotics, a force torque sensor is used between the robot

tool and the robot flange for force controlled applications.

Robot flange

FT sensor

Robot tool
Robotic Force Torque Sensor

As the Force Torque Sensor is

located between the robot flange
and the robot tool, it measures
the applied force and torque at
this point.

Fy, My
Download the ebook Fx, Mx

Fz, Mz
Robotic Force Torque Sensor

There are several different ways to describe this sensor, they all
have the same meaning:

Force torque sensor

Multi-axis force torque transducer
6-axis load cell
FT sensor
Robotic Force Torque Sensor

A 6-axis Force Torque sensor will measure forces along the x-

y-z axes, as well as the torque applied around these axes.

Most robotic force controlled applications require feedback

from all 6 components of force and torque.
Robotic Force Torque Sensor

The efforts (force and torque) are measured in the reference

frame of the sensor.

To be useful in the robot control loop, it is necessary to know

the position and orientation of the sensor reference frame
relative to the robot tool reference frame. These parameters
are defined in the robot controller.
FT Sensors Specifications
The following specifications are the most relevant for typical
force control applications:

• Signal Specification
– Force and torque measuring range
– Precision (resolution and accuracy)
– Repeatability
– Drift
– Noise level
– Output rate
• Mechanical
– Physical dimension

Each of them are introduced in the following slides.

Measuring Range

What does it mean?

The range of force and torque that the Fmin Fmax
sensor can measure.

Why is it important?
Sensor range needs to cover the effort
that will be applied by the tool on the
robot flange. For example, if a sanding
procedure requires the application of 100
N, the sensor needs to be able to sense
more than 100 N.
Resolution

What does it mean?

The minimum change in force that the
sensor can measure. F
Why is it important?
The resolution needs to be graded
sufficiently to distinguish between events
that are pertinent to the robot
application.
Accuracy

What does it mean?

The sensor measures precisely the
applied force and torque. If you apply
50 N, do you read 50 N?

Why is it important?
Robot control software sometimes
use dynamic models in which the
actual force value is important.
Repeatability

What does it mean?

How repeatable is the sensor when
measuring force and torque? If you apply
exactly the same force twice, will you
read the same value each time?

Why is it important?
Some processes need to apply a
repeatable level of force with the tool.
Think of finishing applications for
instance.
Drift

What does it mean?

The signal is drifting when the sensor is
reading a changing force even if no real force
is being applied to the sensor.

Why is it important?
The force measurements are used in the
control loop. A drift will generate false values
that will cause unwanted behaviour. For
example, a sensor drift in hand-guiding will
cause the robot to move even if nobody
touches it.
Noise Level

What does it mean?

How much noise is generated
by the sensor. This noise is
added to the force signal.

Why is it important?
A high level of noise will require
signal filtering, reducing the
effective bandwidth of the
sensor and adding delay to the
reaction time of the robot.
Output Rate

What does it mean?

It is the number of force
readings per second that the
robot can get from the sensor.

Why is it important?
The output rate needs to be
sufficient to feed the control
loop, so that it remains stable.
Physical Dimension

What does it mean?

The size of the sensor.
(diameter, thickness)

Why is it important?
It is needed to look at tooling
reach and to use as a
parameter in the robot
controller.
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