Hi, everybody, I polled the external force using datarecorder method. I thought the external force should be near Zero for I have not applied any force on the end, but the data are not what I expected, as the attachment shows.(red-force of direction X, green-force of direction Y, blue-force of direction Z)
Is error or gravity causing that?How to compensate it?
About the external force
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stone_3rd -
May 27, 2018 at 1:49 AM -
Thread is marked as Resolved.
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what is your setup? how is robot mounted? is tool used? is the tool load correct?
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what is your setup? how is robot mounted? is tool used? is the tool load correct?The robot is mounted on a fixed table. There is no tool on the robot ,and the place where I got force is the center of flange.
The Start point of motion: X:-900, Y:0, Z:275, A:0, B:-1.57,C:0
The End Point of motion: X:-700, Y:0, Z:275, A:0, B:-1.57,C:0 -
I am exploring the same problem. The getExternalTorque method from the ITorqueSensitiveRobot interface ignores weight(gravity) and inertia of the robot. Now, the DataRecorder class seems to take into account both gravity and inertia. Since you are moving in the X direction, your Y and Z reading will be stable relative to X reading.