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Force control with proper force sensor

asked 2015-10-16 19:06:11 -0500

daichi gravatar image

Hi there,

I have questions about force control of manipulator.
1. Which sensor is recommended to measure external force applied to fingertip,
force sensor, contact sensor or other one ?
2. How can I implement the recommended sensor ? Any good example or tutorial ?
3. Anybody who has done that before ?
Here, external force -> measured force between robot's fingertip and a rigid object like a table.

gazebo::physics::JointWrench seems to provide what I want, but it's placed at joint, not link.
Sensor which can be put on link is preferable.
Also, I know gazebo::physics::joint::GetForce provide joint torques.
However it's not what I want.

Thank you very much.

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Have you solved your problem? I want to know how to deal with it as well, thanks!

shawnysh gravatar imageshawnysh ( 2017-06-11 20:17:37 -0500 )edit

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answered 2018-02-25 20:31:14 -0500

littleghost gravatar image

The tutorial said that the F/T sensor is only for joint. I really can't understand why the sensor can't directly measure the link force applied. It does't make sense. Hope the gazebo can explain it.

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Asked: 2015-10-16 19:06:11 -0500

Seen: 142 times

Last updated: Oct 16 '15