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Toby
Posts: 5 Apprentice
force torque sensor manual calibration |
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Hey All,
Our application involves a payload that is quite large, and can vary in its CG / total mass. I was curious how the FT150/300 calibrates itself, so that we can replicate that in our code to run it when needed. I attempted a simple statics calculation to account for CG, but the output was not correct.
Best,
Toby
Our application involves a payload that is quite large, and can vary in its CG / total mass. I was curious how the FT150/300 calibrates itself, so that we can replicate that in our code to run it when needed. I attempted a simple statics calculation to account for CG, but the output was not correct.
Best,
Toby
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louis_bergeron Posts: 94 Handy
@Toby
rq_set_zero is a function defined in the file accessor_capt.script. In this file, the function is defined like this:
def rq_set_zero(): if(socket_open("127.0.0.1",63350,"acc")): socket_send_string("SET ZRO","acc") sleep(0.1) socket_close("acc") end end
To replicate it, your socket connection must be done on the 63350 port and the real command for the sensor is "SET ZRO".
I use python-urx: https://github.com/SintefRaufossManufacturing/python-urx for the connection, and use this python code to reset the FT300:
Afterwards, I can take into account the location of my weight by taking my mass vector: [0, 0, -9.81*mass] and rotating it into tool-frame, and then subtracting from my force readings.