Could someone be able to explain " How robot calculates payload" on basis of 2 positions.
what is the principle behind this. Could someone be able to elaborate.
Could someone be able to explain " How robot calculates payload" on basis of 2 positions.
what is the principle behind this. Could someone be able to elaborate.
Hi
I wish I had the video to show you exactly how the payload 2 points will work
Anyway, basically Fanuc does the calculations while moving to two know points.
The are set on the robot (you can change them). You can jog to those points. In fact you should, to check if the robot and gripper and part can achieve the points.
The robot goes from point a to b very slow , then from b to a very slow and then does it at 100%.
Please Be sure that the part is secure in the gripper
The robot monitors the torque required (or more accurately, the current draw of the two servos) to move between those two points, and from there, back calculates the payload's mass, CoGs, and inertias.
I found a paper on it if you would like to dive more in depth: https://hal.archives-ouvertes.fr/hal-00362677/document
Thanks Fabian,
Basically I was asking with reference to software calculation.
Thanks Nation, for the document. I will check it.