GoFa, FCLoadId and FCGetForce

hcostelha

Hi,

I need to get the center of mass and load of a tool, in order to use Force Control on a GoFa. However, when I run the FCLoadId function, it fails stating "The identified mass is 0 (kg), load too small or sensor config wrong".

This a GoFA without any additional sensor, so I shouldn't need any additional config, right?

In the meantime I read in the "Application manual: Force control Standard for GoFa" that the FCLoadId is not available in GoFa (the manual states "This function is not used for the GoFa robot." in the FCLoadId section). So what is the alternative to estimate the load center of mass and weight?

I also tried to use the FCGetForce function, but it also always returns [0, 0, 0] for the xforce, yforce and zforce components, something that works well on another non-collaborative robot where we use the FC package.

Thanks in advance for any help.
Best regards,
Hugo Costelha

hcostelha

Hi,

Answering my own (second) question, it seems that in the case of the collaborative robots the force is only updated between FAct and FDeact. If force control is not activated, FCGetForce always returns a zero-valued array.

Regarding the load and the fact that FCLoadId is not available, it is still a bit of a mistery to me, as I cannot see how can we get accurate force and torque values if we do not calibrate the tool load. Any hints on this matter?

Thanks and best regards,
Hugo Costelha

hcostelha

Hi,

Following up my previous question, is there a way to calibrate the tool load on the GoFa?

Thanks and best regards,
Hugo Costelha