  We present and analyze methods for the kinematic and kinetostatic calibration
of, typically, wrist mounted force/torque sensors in robotics. The algorithms
are based on matrix factorization and require no special equipment. The only
requirement is the ability to reorient the sensor and to measure its
orientation in a fixed coordinate system, such as through the forward
kinematics of a robot manipulator, or using an external tracking system. We
present methods to find the rotation matrix between the coordinate system of
the sensor and that of the tool flange, the mass held by the force sensor at
rest, the vector to the center of gravity of this mass and the gravitational
acceleration vector.
