Research Article
Research on Collision Point Identification Based on Six-Axis Force/Torque Sensor
Table 3
Experimental results of different collision points.
| Number | Collision force () | Collision direction () | Collision position (mm) | Calculation force () | Calculate position (mm) | Force direction error () | Force error (%) | Position error (mm) | Position error (%) |
| 1 | 100 | 92.6873 | 40.03 | 94.5629 | 40.4627 | 1.8756 | 2.2044 | 0.4327 | 1.5470 | 10.3486 | 0 | 9.6745 | 0.0436 | 0.6741 | 0.0436 | 36.0828 | 148.03 | 37.5501 | 149.926 | 1.4673 | 1.8960 | 2 | 100 | 62.3486 | 0 | 60.3813 | 1.3468 | 1.9673 | 2.3799 | 1.3468 | 1.7856 | 73.9483 | 38.49 | 72.7500 | 37.6433 | 1.1983 | 0.8467 | 25.3831 | 167.03 | 24.3152 | 167.8972 | 1.0679 | 0.8672 | 3 | 100 | -82.9436 | 46.83 | -84.1905 | 47.3161 | 1.2469 | 1.946 | 0.4861 | 2.3915 | 48.6725 | 0 | 49.6071 | 2.3791 | 0.9346 | 2.3791 | -27.4107 | 184.16 | -29.0514 | 85.8391 | 1.6407 | 1.6791 | 4 | 100 | 76.8942 | 64.07 | 78.7615 | 66.7183 | 1.8673 | 0.7565 | 2.6483 | 2.8540 | 14.6879 | 36.83 | 16.4195 | 38.9973 | 1.7316 | 2.1673 | -62.2218 | 264.19 | -61.6539 | 261.1763 | 0.5679 | 3.0137 | 5 | 100 | -16.4834 | 82.64 | -18.0505 | 79.1709 | 1.5671 | 1.5283 | 3.4691 | 3.9679 | 84.6781 | 6.76 | 85.6615 | 9.4081 | 0.9834 | 2.6481 | -50.5759 | 306.82 | -51.4226 | 313.3137 | 0.8467 | 6.4937 | 6 | 100 | -45.0167 | 116.79 | -46.3635 | 122.1008 | 1.3468 | 0.8760 | 5.3108 | 4.8264 | -62.8643 | 69.72 | -62.2297 | 76.4891 | 0.6346 | 6.7691 | 63.4159 | 298.71 | 64.4505 | 302.4713 | 1.0346 | 3.7613 | 7 | 100 | -86.0348 | 190.46 | -87.7972 | 180.7866 | 1.7624 | 2.2500 | 9.6734 | 7.5780 | 32.1864 | 80.73 | 33.0516 | 92.2237 | 0.8652 | 11.4937 | 39.5228 | 422.67 | -40.6704 | 408.1766 | 1.1476 | 14.4934 | 8 | 100 | 72.1894 | 213.41 | 70.7132 | 226.9001 | 1.4762 | 0.5796 | 13.4901 | 7.7792 | 30.1609 | 124.08 | 29.6686 | 135.7148 | 0.4923 | 11.6348 | -62.2817 | 486.49 | -63.2758 | 503.8037 | 0.9941 | 17.3137 | 9 | 100 | -80.7934 | 219.46 | -82.5168 | 235.4646 | 1.7234 | 4.8925 | 16.0046 | 8.5263 | 52.8792 | 97.61 | 54.3396 | 116.1037 | 1.4604 | 18.4937 | 26.00417 | 519.73 | 27.1388 | 505.4114 | 1.1346 | 14.3186 | 10 | 100 | -68.4937 | 234.18 | -70.6343 | 253.8643 | 2.1406 | 1.8862 | 19.6843 | 8.7119 | -24.6791 | 126.49 | -23.6394 | 139.9582 | 1.0397 | 13.4682 | -68.5533 | 536.18 | -69.5181 | 555.1773 | 0.9648 | 18.9973 |
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