KRC4 ForceTorqueControl

  • I use F/T Sensor: Delta IP60 (ATI Net F/T) with a robot KUKA KR 210 R2700 extra with software KUKA.ForceTorqueControl.
    This complex is designed for processing the edges of parts, for this using a different tool. The tool we use has a different weight.
    Is it possible using F/T Sensor calculate weight, mass center on a robot.


    Thanks for the help.

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  • As shown in the FTC manual (Section 7.4): FTCtrl_LDD.SRC. It should be in the TP/FTCTRL/ directory.


    If it's missing, you can find in in the FTCTRL installer directory under D:/KUKA_OPT.


    Thank you, I have already found this function and it correctly calculates.
    But I could not suggest an algorithm for calculating it, find FTCtrl directory C:/KRC/TP/FTC, I cant understand how the program calculates the data received.

  • many people do not understand how microwave ovens, cellphones etc work. that does not stop them from using those things. are you trying to make your own LDD?

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2


  • many people do not understand how microwave ovens, cellphones etc work. that does not stop them from using those things. are you trying to make your own LDD?


    Yes, I can know the forces that act in each position and know the positions of the robot, but I cant compare these data to get the mass and center of gravity.

  • You are using a 6DOF load cell, correct? As long as you have all three forces and torques from the load cell, this should be an exercise in statics analysis. Specifically, cantilever beam force and torque. https://www.engineeringtoolbox…tilever-beams-d_1848.html


    Knowing the exact relationship between the gravity vector and the load cell origin would be necessary. To simplify the math, it would help to align one axis of the load cell with gravity, record the forces and torques, then repeat with another axis aligned with gravity. You could probably get enough data from just one measurement, but doing two would allow for cross-checking.


    The Force you see along that axis should be the whole mass of the payload, times gravity. So your payload mass should be the Force in Newtons divided by 9.8. Likewise, the Torque should be the Mass * gravity * the distance from the load cell origin to the payload center of mass.

  • Load identification is a nice but rather involved exercise that requires dynamic system, data collection and processing that will likely make your head spin.



    Determining static load such as mass can be simpler.



    But if LDD function is part of your F/T, isn't there a way to simply call that function?

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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