Research Article
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 |
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