denis
September 1, 2023, 5:42am
1
hi all,
I would obtain tcp_force() respect to a user reference system instead of base reference system as found with function get_tcp_force()
it is possible? how can i do that?
many thanks in advance
best regards
terryc
September 1, 2023, 6:54pm
2
This should get you started:
Hi everyone,
with the command get_tcp_force() I obtain the external force on the TCP but in base_frame, I try to use the function wrench_trans() in this way:
F_base=get_tcp_force()
F_base_list=[F[0], F[1], F[2], F[3], F[4], F[5]]
F_tcp=wrench_trans(get_actual_tcp(), F_base_list)
The force give me the result that I expected , but the momentums are not correct.
There is a way to read direct the result of the force/torque sensor in TCP frame?
How to use the function wrench_trans() in the co…
Try to search the forums for your question too before you create a new thread because I’ve found that there is a huge database of answered questions in the forums now.
Cheers