Calculate the weight of object held by gripper
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- Posts: 14
- Joined: 25 May 2024, 01:58
Calculate the weight of object held by gripper
Hello, I have an UR5 robot with RG2 gripper model working together. Can I use the force sensor to calculate the weight of an object which is holding by RG2 Gripper?
Re: Calculate the weight of object held by gripper
You will be measuring everything attached to the force sensor, including the gripper itself.
The force sensor will be measuring force \(\vec{F}\) and torque \(\vec{\tau}\) acting on it. Consider a mass \(M\) attached at point \(\vec{r}\) with respect to force sensor's origin, you'll have:
\(\vec{F} = M \cdot \vec{g}\)
\(\vec{\tau} = \vec{r} \times \vec{F}\)
The force sensor will be measuring force \(\vec{F}\) and torque \(\vec{\tau}\) acting on it. Consider a mass \(M\) attached at point \(\vec{r}\) with respect to force sensor's origin, you'll have:
\(\vec{F} = M \cdot \vec{g}\)
\(\vec{\tau} = \vec{r} \times \vec{F}\)
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- Posts: 14
- Joined: 25 May 2024, 01:58
Re: Calculate the weight of object held by gripper
So you mean that if I wanna get the object weight, I need to minus the weight of gripper, then devide it by the gravity, doesn't it ?
Re: Calculate the weight of object held by gripper
Yes, you’re right! Just to clarify, have you tried measuring the gripper’s weight alone to ensure accuracy in the final calculation?