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class
Posts: 3 Apprentice
some issues about FT300 |
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class
Posts: 3 Apprentice
When I used FT300,I met some issues about the datas.Before use it, I have done the calibration and zero the data.But when I control a joint vertically downwards, the force data obtained has components in other directions.What could be the reason that caused this result.
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bcastets
Vacuum Beta tester Posts: 674 Expert
@class
The zero of the sensor should be done with the object on the robot. Each time you mount something on the sensor, this will induce constrains on the sensor and offset readings.
With such offset weight, I would also recommend to work with torque rather than force. Offset weight can induce parasitic force.
From what I understand, you:
It is possible internal deformation of the force sensor remain after some motion and cause an offset. This is usually an offset of about 3N.
What is the weight of the object ?
What is the acceleration of the robot when you do the vertical motion ?
The weight is 916g and the robot is Stationary state.Before I done calibration and zero the sensor, I didn't install the object. When I finish calibration and zero the sensor, I install the object and the robot is stationary state.The sensor has a component of force in a direction where no force should appear.