Experiments

Compliant motion

To run compliant motion start robot and in separate terminals type:

roslaunch clopema_force_2 force_sensors.launch
rosrun clopema_tutorials_moveit fast_movement

Push (5N at least) to the second arm gripper to specify direction of the motion.

Comparison of different sensor connection and settings

Czech version of the document: experiments_FT sensor.pdf

Gripper mass and centroid estimation

Downsampled data from both force sensors was saved at various robot positions.
Data were downsampled to fequency 4Hz - mean value for each sensor axis is published.
The CAD coordinates of the force sensors as well as coordinates of the tip_links were saved at the each measurement position.
Data from the experiment are stored in file mass_centroid_2013-11-26.zip, Matlab scripts used for estimation are stored in repository clopema_cvut/clopema_force_2.

13-12-06 - two times 140 poses with different gripper weight
Magnet mass: 1.229 kg

Calculation of Robot Gripper Centroid, Mass, and Force Sensor Offsets

PDF: report_equations.pdf

Attached files

experiments_FT sensor.pdf - F/T sensor experiments (7.42 MB) Matej Murgas, 07/25/2013 13:24

centroid_estimation_2013-11-26.zip (78.3 KB) Vladimir Petrik, 11/26/2013 12:19

13-12-06.zip - Centroid estimation (157 KB) Vladimir Petrik, 12/06/2013 10:34

time_drift_2013_12_11.zip (522 KB) Vladimir Petrik, 12/11/2013 10:53

time_drift_2013-12-16.zip - Time drift during weekend after sensor start (4.08 MB) Vladimir Petrik, 12/16/2013 10:52

time_drift_2014-01-06.zip - Time drift during weekend, after sensor start, rotated base -90 deg (4.14 MB) Vladimir Petrik, 01/06/2014 08:58

time_drift_2014_01_13.zip (4.04 MB) Vladimir Petrik, 01/13/2014 09:07

sensor1_weekend.png - Exported graph 2014-01-13 (32.6 KB) Vladimir Petrik, 01/13/2014 09:09

sensor2_weekend.png - Exported graph 2014-01-13 (32.3 KB) Vladimir Petrik, 01/13/2014 09:09

force_dropout_short.zip - The sensors reaction after short dropout in power suply (95.3 KB) Vladimir Petrik, 01/13/2014 09:25

sensor1_dropout_short.png (20.2 KB) Vladimir Petrik, 01/13/2014 09:25

sensor2_dropout_short.png (20 KB) Vladimir Petrik, 01/13/2014 09:25

force_dropout_2hr.zip - The sensors reaction after 2hour dropout in power suply (157 KB) Vladimir Petrik, 01/13/2014 13:43

sensor1_dropout_2hr.png (18.9 KB) Vladimir Petrik, 01/13/2014 15:22

sensor2_dropout_2hr.png (18.6 KB) Vladimir Petrik, 01/13/2014 15:22

light.zip - Light influence - every 10th sec. the state of the light was changed starting from "light on" (45.3 KB) Vladimir Petrik, 01/24/2014 10:20

report_equations.pdf - Calculation of Robot Gripper Centroid, Mass, and Force Sensor Offsets (313 KB) Libor Wagner, 01/24/2014 16:57

light2.zip - Light influence tested with flashlight (25.7 KB) Vladimir Petrik, 02/04/2014 12:53