How to estimate industrial robot's end-effect force without force sensor?

    Hello everyone, I'm a student in China and I want to implement force control without end-effect force sensor in my kuka kr16 ( KRC4),I tried a lot but nothing done, I wondered if anyone knows how to do this or if it can be done in kuka, It will be cool if anyone can recommends some paper to me.

    BYW, In kuka RSI, there is an object calls GEARTORQUE, and there three mode :

    Type of gear torque
    Set_LoadSide: drive output setpoint
    FF_LoadSide: drive output precontrol value
    Set_MotorSide: drive input setpoint

    I wondered what's the difference between them, thank you very much.

    My English is poor, I hope you can understand what I've said. :icon_smile:

    there are a few research papers around that deal with this; its a fairly hard problem. Most approaches take advantage of moving very slowly, so that there is no need to account for dynamics, and the net values can be estimated(by looking at the steady state before contact). Even then you have to deal with the kinematics. I think this involves solving the jacobian, basically the derivative of the IK matrix....but I can't tell you much more than that, or how to do it.

    as far as the values you mentioned, I assume this is KRC2? I never did much with torque on KRC2. KRC4 has $TORQUE_AXIS_ACT. It seems there is also a $HOLDING_TORQUE value calculated by the dynamic model. I haven't tried it, but apparently it takes into account the payload and current pose to provide values for "holding position". The net torque "might" be as simple as comparing the actual to the holding. Once you have the net torques, then you can get on with the linear algebra...

Advertising from our partners