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

Table 3

Experimental results of different collision points.

Number	Collision force ()	Collision direction ()	Collision position (mm)	Calculation force ()	Calculate position (mm)	Force direction error ()	Force error (%)	Position error (mm)	Position error (%)
1	100	92.6873	40.03	94.5629	40.4627	1.8756	2.2044	0.4327	1.5470
		10.3486	0	9.6745	0.0436	0.6741		0.0436
		36.0828	148.03	37.5501	149.926	1.4673		1.8960
2	100	62.3486	0	60.3813	1.3468	1.9673	2.3799	1.3468	1.7856
		73.9483	38.49	72.7500	37.6433	1.1983		0.8467
		25.3831	167.03	24.3152	167.8972	1.0679		0.8672
3	100	-82.9436	46.83	-84.1905	47.3161	1.2469	1.946	0.4861	2.3915
		48.6725	0	49.6071	2.3791	0.9346		2.3791
		-27.4107	184.16	-29.0514	85.8391	1.6407		1.6791
4	100	76.8942	64.07	78.7615	66.7183	1.8673	0.7565	2.6483	2.8540
		14.6879	36.83	16.4195	38.9973	1.7316		2.1673
		-62.2218	264.19	-61.6539	261.1763	0.5679		3.0137
5	100	-16.4834	82.64	-18.0505	79.1709	1.5671	1.5283	3.4691	3.9679
		84.6781	6.76	85.6615	9.4081	0.9834		2.6481
		-50.5759	306.82	-51.4226	313.3137	0.8467		6.4937
6	100	-45.0167	116.79	-46.3635	122.1008	1.3468	0.8760	5.3108	4.8264
		-62.8643	69.72	-62.2297	76.4891	0.6346		6.7691
		63.4159	298.71	64.4505	302.4713	1.0346		3.7613
7	100	-86.0348	190.46	-87.7972	180.7866	1.7624	2.2500	9.6734	7.5780
		32.1864	80.73	33.0516	92.2237	0.8652		11.4937
		39.5228	422.67	-40.6704	408.1766	1.1476		14.4934
8	100	72.1894	213.41	70.7132	226.9001	1.4762	0.5796	13.4901	7.7792
		30.1609	124.08	29.6686	135.7148	0.4923		11.6348
		-62.2817	486.49	-63.2758	503.8037	0.9941		17.3137
9	100	-80.7934	219.46	-82.5168	235.4646	1.7234	4.8925	16.0046	8.5263
		52.8792	97.61	54.3396	116.1037	1.4604		18.4937
		26.00417	519.73	27.1388	505.4114	1.1346		14.3186
10	100	-68.4937	234.18	-70.6343	253.8643	2.1406	1.8862	19.6843	8.7119
		-24.6791	126.49	-23.6394	139.9582	1.0397		13.4682
		-68.5533	536.18	-69.5181	555.1773	0.9648		18.9973