Hi guys, Just a quick question...
Has anyone ever came across a method of calculating a mass via the robot alone? So to set the scenario, i have an 8700 robot with some forks for lifting fully laden pallets. There are no scales or any specific input to tell me the current weight of what I'm lifting. Doing a payload identity is not very useful here because i need a way of being able to calculate masses ranging from 50Kg - 400Kg.
At present i knocked up a small routine that derives various masses from a Torque reading on axis 5, its okish but not by any means perfect. Ideally i want to find a way i can do this without tuning the motion supervision to something ridiculous as this will effect the robot and its motors long term.
If anyone has encountered similar situations or can provide any info on how best to achieve this it would be most welcomed.
P.S Customer is tight as a ducks butt and doesn't want to just pay for a set of scales haha Was my first suggestion!
Cheers
Ash