Research Article
Collision Sensing Using Force/Torque Sensor
Table 3
Different force 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 | 60 | −48.0604
35.3349
6.4531 | 206.08
72.79
525.46 | 48.0604
54.4423
−6.4531 | −8.8104
26.5837
−3.7276 | 223.53
85.34
542.45 | −46.4684
32.2344
7.1736 | 2.993 | 8.384 | 8.257 |
| | 2 | 80 | −64.0805
47.1132
8.6041 | 206.08
72.79
525.46 | 64.0805
42.664
−8.0641 | −2.7779
3504449
−7.321 | 223.44
80.32
543.24 | −60.3674
46.6237
9.7344 | 3.106 | 7.721 | 7.498 |
| | 3 | 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 |
| | 4 | 120 | −96.1208
70.6698
12.9062 | 206.08
72.79
525.46 | 96.1028
19.1073
−12.9062 | 9.287
53.1673
−14.5078 | 216.45
87.87
535.64 | −99.8348
70.7982
10.5374 | 2.843 | 7.060 | 6.261 |
| | 5 | 140 | −112.1409
82.4482
15.0572 | 206.08
72.79
525.46 | 112.1409
7.329
−15.0572 | 15.3194
62.0285
−18.1011 | 213.23
85.56
538.97 | −113.4532
87.1726
13.2736 | 3.690 | 6.620 | 5.874 |
| | 6 | 160 | −128.161
94.2265
17.2082 | 206.08
72.79
525.46 | 128.161
−4.4493
−17.2082 | 21.3519
70.8898
−21.6945 | 213.74
81.46
539.53 | −123.7562
95.6352
17.3845 | 2.634 | 6.104 | 5.342 |
| | 7 | 180 | −144.1812
106.0048
19.3593 | 206.08
72.79
525.46 | 144.1812
−16.2276
−19.3593 | 27.3843
79.751
−25.2879 | 217.36
76.87
540.37 | −149.2352
104.8453
18.4632 | 3.315 | 5.726 | 5.319 |
| | 8 | 200 | −160.2013
117.7831
21.5103 | 206.08
72.79
525.46 | 160.2013
−28.0059
−21.5103 | 33.4168
88.6122
−28.8813 | 223.42
78.36
530.75 | −155.7297
119.4328
20.5643 | 2.671 | 5.201 | 4.955 |
| | 9 | 220 | −176.2214
129.5614
23.6613 | 206.08
72.79
525.46 | 176.2214
−39.7842
−23.6613 | 39.4493
97.4734
−32.4747 | 197.45
65.32
535.75 | −171.2194
131.3342
22.9472 | 2.995 | 5.172 | 4.637 |
| | 10 | 240 | −192.2415
141.3397
25.8123 | 206.08
72.79
525.46 | 192.2415
−51.5625
−25.8123 | 45.4817
106.3346
−36.068 | 199.63
65.37
533.74 | −196.24387
140.3484
29.6547 | 3.082 | 4.973 | 3.892 |
|
|
