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¶