Hello!
I am currently working on a force control with a UR10/CB3. I know that this robot does not have an integrated force/torque sensor and therefore the accuracy is limited to +/- 10N, as on the dynamic force control page. Nevertheless, I would like to verify this information with my own reference measurements. To evaluate the estimated force at the TCP I use MATLAB and communicate via the TCP/IP connection. On the page Remote Control via TCP/IP it is described in the document “Client_Interfaces_1.1.3.xlsx” for Polyscope version 3.7 that the “TCP Force” is received via the interface. In the notes it says “Generalised forces in the TCP”. I would like to know what exactly is meant by this. Is this the force in the TCP in the base frame or in the tool frame? Unfortunately I can’t find a concrete answer in the forum, here the topic is touched upon, but not finally clarified.
Thanks in advance!