Hi, I am a new user with Kuka iiwa. I have run the PositionAndGMSReferencing provided by kuka successfully with no tool attached to the flange. The load is 0kg. However, when I check the external torque reading I find that the external torques are not zero (ranging from 0.1Nm to 0.6Nm), even with no touching and no load. Is it a normal behavior? What is the precision of the external torque reading and to what can I trust it?
External torque reading non-zero with zero load
- Chen Wang
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It's normal, at least on the robots I used. I don't know to what degree of accuracy your need your applications, my needs usually are to detect human touch (a couple of Nm's are enough for me). The real problem is when you try to poll cartesian forces when the robot is next to a singularity position, it sends some crazy values.
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It depends on the use case, you can use Axis torques or Cartesian forces, just be aware of the accuracu issues around singularities.
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Chen Wang It's in the "KUKA Sunrise.Workbench 1.5" documentation, Page 207/413.
Code// Put this inside the declaration area private LBR robot; double ForceX, ForceY, ForceZ; // and this inside run() ForceSensorData sensorData = robot.getExternalForceTorque(robot.getFlange()); ForceX=sensorData.getForce().getX(); ForceY=sensorData.getForce().getY(); ForceZ=sensorData.getForce().getZ();
You can use the absolute external forces to the robot if it's a naked flange or relative (if a tool is attached to your robot)
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Thank you very much!
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