Hi all,
Currently I am trying to calculate Dynamic force data using KUKA LBR. I am storing all points in Spline and moving it in moveAsync after storing motion in IMotionContainer and running KUKA in ImpedanceControlMode as well as Position Control Mode. Even without load I am getting non-zero force data (in range of -5 to 5N and at Robot Flange) which looks way more than what KUKA promises. I tried using different Impedance parameters and still getting the skewed data and jitters. I attached some external load and collected the data and still the same irregular behavior but the difference between no load and with load looks something consistent. I collected the data for 3 different KUKAs and observed the almost similar behavior. The force data for each KUKA is attached in the PDF file.
It would be really helpful if you can help me figure out the reason for this errors. I have calibrated and referenced all sensor values and running robot at low velocity (Vr = 0.1 - 0.2). Can we apply some kind of filters to get the accurate data. I need the data to be accurate within a 1N range. Is it achievable using KUKA?
Please let me know should you require any additional information.