How to understand FTM115 calibration Principle？ about ati_force_torque HOT 6 OPEN

Do you mean scripts for offset and tool gravity calculation?

Offset calculation sets robot tcp in two positions in which fts is once oriented towards gravity direction and in other position away from this direction. In both cases average forces are calculated and their arithmetic middle is used as sensor offset. This offset is depending on temperature, sensor load etc. during longer use you will have to do it from time to time to eliminate the sensor drift.

Tool gravity calculation drives robot in three positions and calculates mass and center of mass for the tool. This works under assumption that tool is rotationally symmetrical (at least approximately).

I hope this helps you to understand those scripts.

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the pose is for Schunk lwa4p. You should probably just add one more joint and test it.

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yes，your answer is what I want. Thank you very much

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Thank you sir. The pose in the script is for which robot? And for my robot SCHUNK lwa4d(7 DOF) , I should change the value or not ?

poses = [[0.0, 0.0, 1.5707963, 0.0, -1.5707963, 0.0],
[0.0, 0.0, 1.5707963, 0.0, 1.5707963, 0.0],
[0.0, 0.0, 0.0, 0.0, 1.5707963, 0.0]]

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Thank you again.

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@changzhengwu if you have an idea how to generalize/parametrize this scripts I would be glad to see your PR.

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