1 Using This Manual
If tool shape is like
figure, force sensor
receives moment by
tool own weight or
pushing workpiece.
Moment around force sensor coordinate origin (Nm):
M = W
×L
×g+W
1
1
1-4 Select the Force Sensor
Tool W
(kg)
1
Center of gravity of the hand
Center of gravity of the Workpiece
(m)
L
1
(m)
L
3
Reactive force
(m)
F(N)
L
2
×L
×g - F×L
2
2
3
Fig. 1-2: Moment by the tool shape and a posture change
Center of gravity
of the hand
Tool W
(kg)
1
Workpiece W
(kg)
2
Moment around force sensor coordinate origin (Nm):
M = W
×sinθ×L
1
*g:gravity acceleration (m/sec
When robot changes
posture, force sensor is
received moment by tool
own weight.
(m)
(m) L
2
L
1
Workpiece
W
θ
Center of
θ
gravity of the
Workpiece
×g+W
×sinθ×L
×g
1
2
2
(kg)
2
2
)