Collision Sensing Using Force/Torque Sensor

Table 2

Different point experiment.

Number	Force size (N)	Force direction (N)	Force position (mm)	Detected force (N)	Detected torque (N·m)	Calculated position (mm)	Calculated force (mm)	Force size error (%)	Force direction error (°)	Position error (%)
1	100	93.8152; 9.9627; 33.158	40; 0; 150	−93.8152; 79.8145; −33.158	−25.4134; −12.746; 6.654	40.34; 0.05; 152.38	93.1473; 10.2345; 32.153	0.930	2.087	1.78
2	100	60.9138; 74.9999; 25.7783	0; 40; 175	−60.9183; 14.7773; −25.7783	−14.8139; −10.6599; 9.4891	2.12; 39.83; 176.33	59.2332; 74.5389; 25.2234	1.507	2.657	2.017
3	100	−90.4417; 42.0904; −6.9776	40; 0; 200	90.4417; 47.6868; 6.9776	−18.4897; 17.8092; 5.3689	42.98; 1.46; 197.94	−89.1347; 40.6234; −7.7463	1.739	3.069	3.187
4	100	73.5958; 10.5043; −66.8828	65.02; 37.54; 267.16	−73.5958; 79.2729; 66.8828	−21.5907; −24.0106; 9.1323	68.58; 40.24; 263.34	71.3748; 9.0657; −66.1635	2.255	4.019	3.632
5	100	−4.7869; 94.594; −32.0789	83.75; 2.17; 312.5	4.7869; 4.8169; 32.0789	2.7225; −1.1907; −0.8801	85.63; 2.37; 324.49	−5.0375; 96.4736; −34.785	2.677	4.867	4.349
6	100	−36.4847; −68.9913; 62.5226	118.66; 68.51; 302.92	36.4847; 158.7685; −62.5226	−52.09; 18.4709; 12.7395	124.94; 63.89; 306.35	−35.8134; −70.7645; 65.386	2.789	5.032	4.310
7	100	−81.5353; 44.681; 36.8185	186.93; 61.74; 442.98	81.5353; 45.0962; −36.8185	−9.3882; 43.001; −6.3337	174.65; 68.49; 452.76	−83.4756; 44.9652; 39.8583	2.853	5.582	5.943
8	100	79.8215; 38.4423; −46.3758	210.36; 121.45; 475.56	−79.8215; 51.3349; 46.3758	−2.9938; −47.7155; 8.6602	222.08; 131.75; 487.74	82.9467; 40.8643; −45.7643	3.171	6.111	6.404
9	100	−80.1006; 58.8915; 10.7551	206.08; 72.79; 525.46	80.1006; 30.8856; −10.7551	3.2545; 44.3061; −10.9144	219.79; 84.86; 539.75	−84.4754; 58.4393; 10.4637	3.251	7.457	7.041
10	100	−74.0921; −18.1331; −64.665	222.17; 128.27; 587.74	74.0921; 107.9102; 64.665	−29.2707; 29.1803; 1.5773	238.57; 113.45; 572.84	−76.4836; −21.9574; −68.4833	4.985	7.886	7.192