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force/torque sensor plugin y axis abnormal

asked 2016-06-14 01:32:40 -0500

mizu_lily gravatar image

I attached a long thin gun to the flange of the robot (tool0) with a fixed type joint called FTsensor_joint. Then I made the tag < provideFeedback> and < disableFixedJointLumping> true so that the plugin could measure the force and torque of FTsensor_joint. However the result is abnormal because the Y-axis value has a big noise than X-axis and Z-axis like this image description

It seems like a noise of 50HZ, but I'm not quite sure.The problem is why noise of Y-axis(force) is much bigger? And how to eliminate it? Another strange thing is when I made the tag of joint link_6-tool0 < disableFixedJointLumping> true the noise turned to be very small like this image description

but Y-axis is still abnormal and has an initial drift. Why?? The platform I am using is ROS-Indigo with Gazebo7. Thanks a lot if you answer my question!

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can you post the SDF of your model?

nkoenig gravatar imagenkoenig ( 2016-06-14 10:28:14 -0500 )edit

Hi ! I had the similar issue my force toque sensor, I am using UR5 robot with Melodic. I had the noise at force in z direction. In my case, problem was , my UR5 has an additional box link at end effector . so the box was exerting that force and torque in z direction which makes sense. Hope this helps someone !

Keep up the good work ! lets grow together ;)

amjack0 gravatar imageamjack0 ( 2020-07-17 05:59:00 -0500 )edit

@amjack0 The point you make is perfectly valid. In my case, I've reduced the mass of the tip and the noise completely vanished.

CroCo gravatar imageCroCo ( 2023-05-29 14:48:25 -0500 )edit

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answered 2023-05-29 14:57:53 -0500

CroCo gravatar image

The same thing happened to me. @amjack0 made a comment that caught my attention. As in my case, the force sensor is attached via a fixed joint between the last link and the tip tool. Despite turning off gravity for the tip tool, the force sensor provides abnormal results, specifically on the y-axis. As my primary goal is to provide haptic feedback to the user, I've reduced the probe's mass and the sensor works exceptionally well.

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Asked: 2016-06-14 01:32:40 -0500

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Last updated: May 29 '23