[Q] How to calibrate 6 DoF force torque sensor?

Hello,

I have a force torque sensor connected to the end of a 6 DoF robotic hand. To the torque sensor a gripper is connected. Can you guys recommend methods for calibrating the sensor and compensate gravity? Unfortunately, there is a slight heat drift too, and probably hysteresis after lifting objects. Is it possible to take these in account? Any paper / sugestion is welcome!

submitted by /u/zspasztori
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