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| projects:lwr_force_measurements [2010/07/12 12:30] – created kresse | projects:lwr_force_measurements [2010/07/13 09:52] (current) – parkhomenko | ||
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| + | ===== Force Measurements with the KUKA lightweight arms ===== | ||
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| + | 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 " | ||
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| + | 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 ==== | ||
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| + | |||
| + | * Calibration of the arm | ||
| + | |||
| + | ==== Necessary Equipment ==== | ||
| + | * Cord | ||
| + | * Pulley | ||
| + | * Weights | ||
| + | |||
