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fferri wrote: ↑27 Mar 2023, 09:43 In dynamic conditions you would have to consider:

• Newton's first law
• Coriolis force

Hello fferri, thanks for your answer！Your answer is very helpful to me, thanks.

For the record, to implement first proposed approach, you would first compute a list of dynamic shapes that you want to exclude from force sensor's reading, for which you'll be computing force and torque manually: allNonStaticShapes={} -- add items to 'allNonStaticShapes' then compute mass and cent...

To subtract the torque/force of the gripper you have two possibilities: manually compute gripper's center of mass, total mass m , then express gripper's center of mass \vec{r} and gravity vector \vec{g} in force sensor's reference frame, and compute resulting force/torque (remember that torque \vec...

So you have a force-sensor between your arm and your gripper? It seems you want to subtract the force caused by gripper's weight from the force-sensor's reading, is it correct? Hello ferri, Thank you for your reply. As you said, I have a force sensor between my arm and the hand gripper. I want to s...

Hello ferri, Thank you for your reply. As you said, I have a force sensor between my arm and the hand gripper. I want to subtract the force from the gripper weight from the force sensor reading. I tried to do gravity compensation, but the sensor does not show zero after compensation. I wonder if you...

I built the model system of robot arm, force sensor and gripper in CoppeliaSim. How do I calibrate and gravimetrically compensate the force sensor in the simulation so that the force measured by the force sensor with the gripper is equal to the external torque applied to it? Thanks.