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Force sensing / weight measurements #14
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This example shows a method of measuring torques and forces with Dexter from DDE -An external force calculation requires external torques. -The force calculation assumes a point force applied at the end-effector point. -The external force is assumed to be along the direction of movement. -The static calculations assume a rigid non-moving body. -The torque measurement assumes that the torque calibration done at one angle holds true for all angles. See the issue on torque sensing |
Kamino cloned this issue to HaddingtonDynamics/OCADO |
If we have a very accurate sense of the center of mass of each link between joints #15 , and know the exact position of each joint #12 then we can compute the force due to gravity that the arm should be subjected to. Given this information, if we can sense torque on each joint #13 , then we can measure any additional weight or force being applied.
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