Wrench.gravity_compensated

Wrench.gravity_compensated(ft_sensor_frame, mass, center_of_mass)

Removes the force and torque in effect of gravity from the wrench.

Parameters:

ft_sensor_framecompas.geometry.Frame

The coordinate frame of the force torque sensor.

mass: float

The mass of the object in kg.

center_of_massPoint

The center of mass of the object in meters.

Returns:

Wrench

The gravity compensated wrench.

Notes

For more info, see [1].

References

[1]

Vougioukas S., Bias Estimation and Gravity Compensation For Force-Torque Sensors, Available at: https://www.semanticscholar.org/paper/Bias-Estimation-and-Gravity-Compensation-For-Vougioukas/900c5de4ac54cf28df816584264fa0de71c4817f

Examples

>>> mass, com = 10, [0, 0, 1]
>>> f = Frame([0, 0, 0], [1, 0, 0], [0, 1, 0])
>>> w = Wrench([0, 0, -98], [0, 0, 0])
>>> x = w.gravity_compensated(f, mass, com)
>>> print(x.force)
Vector(x=0.000, y=0.000, z=0.066)
>>> print(x.torque)
Vector(x=0.000, y=0.000, z=0.000)

>>> mass, com = 10, [1, 1, 1]
>>> f = Frame([0, 0, 0], [1, 0, 0], [0, 1, 0])
>>> w = Wrench([0, 0, -98], [-98, 98, 0])
>>> x = w.gravity_compensated(f, mass, com)
>>> print(x.force)
Vector(x=0.000, y=0.000, z=0.066)
>>> print(x.torque)
Vector(x=-88.193, y=88.193, z=0.000)