xArm-Developer
Force sensor
Hi, I am doing a project on the lite robot, we are trying to measure the force that is applied on the vacuum gripper when a collision occur. we are sure that there is a method in the API that measure that and give us the force, can u help me which API method we should use in order to set a threshold that when exceeded we will turn of the gripper. we searched and not found something that helped us
Hi, unfortunately there is no such API available for now. The estimation of TCP force may be available in later versions by reporting through a new port. However as the force values are not directly from force sensor, but estimated from motor current and theoretical dynamic model, it may not be very much reliable, there may be unpredictable frictions in the joint and the singularity condition can make the transformed TCP force very huge.
