Research on Collision Point Identification Based on Six-Axis Force/Torque Sensor

Table 2

Experimental results of different external forces.

Number	Collision force ()	Collision direction ()	Collision position (mm)	Calculation force ()	Calculate position (mm)	Force direction error ()	Force error (%)	Position error (mm)	Position error (%)
1	40	-32.0642	204.32	-31.2463	217.9682	0.8179	1.5330	13.6582	7.102
		20.4271	68.96	19.9976	74.1460	0.4295		5.1860
		12.4347	518.46	13.2315	539.4948	0.7968		21.0348
2	60	-46.3017	204.32	-45.2675	216.6647	1.0342	0.5075	12.3447	6.864
		33.9705	68.96	34.2894	75.0908	0.3279		6.1308
		17.3827	518.46	18.4023	538.5227	1.0196		20.0672
3	80	-62.6532	204.32	-60.4687	216.3556	2.1845	2.6612	12.0356	6.541
		49.3346	68.96	48.6750	74.4850	0.6596		5.5250
		6.3780	518.46	6.1794	539.4948	0.1986		19.1684
4	100	-81.4014	204.32	-78.6781	192.4465	2.7233	2.8481	11.8735	6.173
		56.3467	68.96	54.7614	73.076	1.5853		4.1160
		14.1018	518.46	15.7934	537.1331	1.6916		18.6731
5	120	-95.9861	204.32	-98.7495	194.1437	2.7634	2.1875	10.1763	5.684
		69.7804	68.96	70.6451	64.8687	0.8647		4.0913
		17.8147	518.46	17.1665	500.8108	0.6482		17.6492
6	140	-114.0861	204.32	-117.1907	214.2127	3.1046	1.5464	9.8927	5.493
		80.6483	68.96	79.9509	65.4977	0.6974		3.4623
		8.9562	518.46	9.2236	535.9493	0.2674		17.4893
7	160	-126.5287	204.32	-124.5523	214.2584	1.9764	0.4302	9.9384	5.208
		96.1673	68.96	97.4040	72.9644	1.2367		4.0044
		18.5024	518.46	19.4785	533.7612	0.9761		15.3012
8	180	-143.1024	204.32	-145.1510	211.9638	2.0486	1.3090	7.6438	4.431
		105.8671	68.96	106.8833	74.1596	1.0162		5.1996
		26.7182	518.46	27.5855	506.4224	0.8673		12.0376
9	200	-161.4531	204.32	-160.3099	196.2409	1.1432	0.6092	8.0791	4.173
		115.6146	68.96	114.9674	65.5742	0.6472		3.3858
		23.7941	518.46	24.4413	530.4273	0.6472		11.9673
10	220	-177.0267	204.32	-174.6555	211.1113	2.3712	1.2027	6.7913	3.675
		127.3468	68.96	126.2738	63.8338	1.0942		5.1262
		29.0575	518.46	28.1632	509.7417	0.8943		8.7183