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

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left"></td><td class="align_center">Experiment 1</td><td class="align_center">Experiment 2</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left"><span style="width: 23.9142ptpx;"><svg height="12.9461pt" id="M203" style="vertical-align:-5.34104pt" version="1.1" viewbox="-0.0498162 -7.60506 23.9142 12.9461" width="23.9142pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M642 327C642 461 565 582 389 582C298 582 219 548 176 519L185 491C235 515 291 526 348 526C477 526 572 452 572 268C572 145 509 51 431 51C396 51 366 78 366 145C366 189 391 295 402 337L396 341L320 332C315 289 306 229 296 187C276 99 230 55 185 55C149 55 111 89 111 170C111 275 160 373 238 431L222 457C99 394 23 290 23 157C23 40 81 -12 142 -12C185 -12 254 33 293 86C301 31 340 -12 394 -12C437 -12 477 8 524 50C589 108 642 203 642 327Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.32,3.132)"><path d="M610 0V27L347 666L316 657L46 26V0H610ZM504 54H116L310 537L504 54Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,14.267,3.132)"><path d="M622 479C622 589 545 650 400 650H146L140 618C229 609 230 602 215 527L135 132C117 43 112 41 27 32L18 0H305L313 32C213 40 205 44 222 132L251 284L324 262H365C484 269 622 333 622 479ZM528 477C528 356 420 305 344 305C300 305 276 314 259 321L303 554C311 597 313 600 331 606C345 611 361 614 379 614C463 614 528 580 528 477Z"></path></g><g transform="matrix(.0065,0,0,-0.0065,18.972,5.233)"><path d="M553 402C553 427 533 454 505 454C451 454 403 404 315 288L294 345C271 408 247 454 221 454C183 454 139 406 91 350L112 324C156 369 170 379 185 379C194 379 201 363 218 321L260 216C184 114 147 72 118 72C105 72 100 76 93 82S82 91 71 91C50 91 25 61 25 41C25 9 54 -12 79 -12C130 -12 183 29 277 173L317 66C336 15 366 -12 392 -12C429 -12 485 37 523 99L501 124C473 91 446 63 427 63C410 63 393 91 369 147L328 244C351 275 380 307 404 333S453 381 468 381C476 381 487 373 495 365C500 360 506 357 514 357C529 357 553 380 553 402Z"></path></g></svg></span></td><td class="align_center">5.0584</td><td class="align_center">49.1524</td></tr><tr><td class="align_left"><span style="width: 24.0121ptpx;"><svg height="14.5119pt" id="M204" style="vertical-align:-6.90684pt" version="1.1" viewbox="-0.0498162 -7.60506 24.0121 14.5119" width="24.0121pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M642 327C642 461 565 582 389 582C298 582 219 548 176 519L185 491C235 515 291 526 348 526C477 526 572 452 572 268C572 145 509 51 431 51C396 51 366 78 366 145C366 189 391 295 402 337L396 341L320 332C315 289 306 229 296 187C276 99 230 55 185 55C149 55 111 89 111 170C111 275 160 373 238 431L222 457C99 394 23 290 23 157C23 40 81 -12 142 -12C185 -12 254 33 293 86C301 31 340 -12 394 -12C437 -12 477 8 524 50C589 108 642 203 642 327Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.32,3.132)"><path d="M610 0V27L347 666L316 657L46 26V0H610ZM504 54H116L310 537L504 54Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,14.267,3.132)"><path d="M622 479C622 589 545 650 400 650H146L140 618C229 609 230 602 215 527L135 132C117 43 112 41 27 32L18 0H305L313 32C213 40 205 44 222 132L251 284L324 262H365C484 269 622 333 622 479ZM528 477C528 356 420 305 344 305C300 305 276 314 259 321L303 554C311 597 313 600 331 606C345 611 361 614 379 614C463 614 528 580 528 477Z"></path></g><g transform="matrix(.0065,0,0,-0.0065,18.972,5.233)"><path d="M568 398C568 430 547 454 522 454C502 454 481 440 472 426C466 416 468 405 473 395C480 382 482 369 482 349C482 276 397 153 344 80H342C336 164 324 261 313 343C304 413 292 454 258 454C212 454 157 388 125 338L144 308C168 339 203 374 209 374C221 374 229 369 234 329C250 216 272 57 272 -10C220 -77 135 -159 19 -223L26 -253L145 -225C258 -99 283 -68 347 18C402 92 485 207 530 284C560 335 568 368 568 398Z"></path></g></svg></span></td><td class="align_center">0.8656</td><td class="align_center">40.6191</td></tr><tr><td class="align_left"><span style="width: 23.4836ptpx;"><svg height="13.0113pt" id="M205" style="vertical-align:-5.40624pt" version="1.1" viewbox="-0.0498162 -7.60506 23.4836 13.0113" width="23.4836pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M642 327C642 461 565 582 389 582C298 582 219 548 176 519L185 491C235 515 291 526 348 526C477 526 572 452 572 268C572 145 509 51 431 51C396 51 366 78 366 145C366 189 391 295 402 337L396 341L320 332C315 289 306 229 296 187C276 99 230 55 185 55C149 55 111 89 111 170C111 275 160 373 238 431L222 457C99 394 23 290 23 157C23 40 81 -12 142 -12C185 -12 254 33 293 86C301 31 340 -12 394 -12C437 -12 477 8 524 50C589 108 642 203 642 327Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.32,3.132)"><path d="M610 0V27L347 666L316 657L46 26V0H610ZM504 54H116L310 537L504 54Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,14.267,3.132)"><path d="M622 479C622 589 545 650 400 650H146L140 618C229 609 230 602 215 527L135 132C117 43 112 41 27 32L18 0H305L313 32C213 40 205 44 222 132L251 284L324 262H365C484 269 622 333 622 479ZM528 477C528 356 420 305 344 305C300 305 276 314 259 321L303 554C311 597 313 600 331 606C345 611 361 614 379 614C463 614 528 580 528 477Z"></path></g><g transform="matrix(.0065,0,0,-0.0065,18.972,5.233)"><path d="M487 445L460 468C429 438 405 428 392 428C376 428 336 431 298 440S226 454 189 454C163 454 134 431 106 387C93 367 81 344 65 305L102 288C128 345 156 383 196 383C218 383 266 379 292 376C321 373 349 374 369 379L79 108C42 74 25 34 25 14C25 0 32 -8 39 -8C48 -8 52 -6 54 -3C63 13 82 37 99 42C110 45 124 44 152 31C202 8 271 -22 305 -22C356 -22 399 13 457 124L424 155C373 79 341 57 316 57C295 57 262 66 221 80C191 90 158 99 133 99C219 174 356 307 415 369L487 445Z"></path></g></svg></span></td><td class="align_center">16.5605</td><td class="align_center">51.3511</td></tr><tr><td class="align_left"><span style="width: 25.2256ptpx;"><svg height="12.8874pt" id="M206" style="vertical-align:-5.28234pt" version="1.1" viewbox="-0.0498162 -7.60506 25.2256 12.8874" width="25.2256pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M642 327C642 461 565 582 389 582C298 582 219 548 176 519L185 491C235 515 291 526 348 526C477 526 572 452 572 268C572 145 509 51 431 51C396 51 366 78 366 145C366 189 391 295 402 337L396 341L320 332C315 289 306 229 296 187C276 99 230 55 185 55C149 55 111 89 111 170C111 275 160 373 238 431L222 457C99 394 23 290 23 157C23 40 81 -12 142 -12C185 -12 254 33 293 86C301 31 340 -12 394 -12C437 -12 477 8 524 50C589 108 642 203 642 327Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.32,3.132)"><path d="M610 0V27L347 666L316 657L46 26V0H610ZM504 54H116L310 537L504 54Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,14.267,3.132)"><path d="M622 479C622 589 545 650 400 650H146L140 618C229 609 230 602 215 527L135 132C117 43 112 41 27 32L18 0H305L313 32C213 40 205 44 222 132L251 284L324 262H365C484 269 622 333 622 479ZM528 477C528 356 420 305 344 305C300 305 276 314 259 321L303 554C311 597 313 600 331 606C345 611 361 614 379 614C463 614 528 580 528 477Z"></path></g><g transform="matrix(.0065,0,0,-0.0065,18.972,5.233)"><path d="M793 369C793 572 640 650 434 650H140L132 615C218 600 221 600 203 514L130 130C116 52 106 41 28 32L19 0H273C416 0 523 20 616 75C729 139 793 237 793 369ZM687 372C687 175 550 43 327 43C304 43 265 43 243 49C217 54 209 66 223 131L293 540C305 577 308 590 318 597C334 608 368 610 408 610C569 610 687 540 687 372Z"></path></g></svg></span></td><td class="align_center">1.3672</td><td class="align_center">8.3715</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Accuracy factor calculation result.</div>

Journal of Sensors

tab4

Table 4

Table 4: Research on Collision Point Identification Based on Six-Axis Force/Torque Sensor 