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Kuka LBR IIWA 7 Estimating Applied Force for End Effector

berkguler · 2021-04-15T00:47:02+02:00

Hello, I am on a Kuka LBR iiwa 7 r800. I have a question regarding Force estimation for the robot's tool frame. I am working with FRI, and I need force measurements applied to the tool during contact. Actually, I can read the joint torque sensor data in the FRI session. How can I map those measurements to estimated force values for the end-effector? I don't want to use an additional force sensor to measure the interaction force for the end-effector. Does anyone has experienced calculating force applied to the tool frame in this forum? I want to emphasize that I need calculations in the FRI not KLI session. To ask my question differently, how can we transmit custom information from KLI to FRI? Thanks in advance

berkguler
Apr 15th 2021
Thread is Unresolved

berkguler

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Apr 15th 2021
- #1
Hello,
I am on a Kuka LBR iiwa 7 r800. I have a question regarding Force estimation for the robot's tool frame. I am working with FRI, and I need force measurements applied to the tool during contact. Actually, I can read the joint torque sensor data in the FRI session. How can I map those measurements to estimated force values for the end-effector? I don't want to use an additional force sensor to measure the interaction force for the end-effector.

Does anyone has experienced calculating force applied to the tool frame in this forum? I want to emphasize that I need calculations in the FRI not KLI session. To ask my question differently, how can we transmit custom information from KLI to FRI?

Thanks in advance