===== Force Measurements with the KUKA lightweight arms =====

We would like to find out, how well we can use our lightweight arms to measure torques and forces.

We are interested in:
  * sensitivity (what is the smallest force that we can detect)
  * noise (variance, peak-to-peak)
  * accuracy (how much can we trust the measurements)

Of course, force reading depend on:
  * magnitude of the force
  * direction of the force

We suspect that the force / torque readings also depend on:
  * pose of the arm (manipulability ellipsoid)
  * stiffness of the arm
  * whether or not the hand is mounted or not
  * whether the arm is moving or not

==== Experiments ====

We attach some weights to the end-effector and measure the torques that the arm is "seeing".

For the experiments we record the following data:
  * joint angles of the arm (once)
  * manipulability ellipsoid (once, one matrix)
  * measured force & torque (log)
  * measured joint torques (log)
  * direction of the force (once)

==== Preparations ====


  * Calibration of the arm

==== Necessary Equipment ====
  * Cord
  * Pulley
  * Weights