Hi,
I'm using a KUKA KR60, and running KSS V5.5.14 and RSI V2.1.1.
I've developed a PD force controller for the robot using RSI, and I have a question about getting my force/torque data from the sensor frame into the tool frame.
So far I've successfully used the following RSI functions in sequence:
st_ftsens_measure to read the sensor data
st_ftcomp to compensate the weight of my tool
st_pd to run my forces through a PD controller
st_limit to limit the controller output
st_pathcorr to link the output of my controller to robot motion.
The controller works great, but now I need to express my force torque wrench at the TCP and in the tool frame rather than at the sensor in the end effector frame. Basically, I need to apply a coordinate transform to the Force vector, and a Coordinate transform plus a change of point formula to my torque vector.
I want to implement the function:
ST_TRAFO_USERFRAME(OBJID:OUT,CONTID:IN,ID1:IN,IDX1:IN,ID2:IN,IDX2:IN,ID3:IN,IDX3:IN,TYPE:IN,FRA:IN)
between the ST_FTCOMP and ST_PD. However, I'm not sure exactly what the function does and I wasn't able to find any information on it.
Has anyone used this function successfully on a force/torque wrench before? Can you explain how it works?
Thanks,
Alex