Dynamic force/torque measurement using a 12DOF sensor

This article presents an algorithm for dynamic force/torque measurement and robot load identification using the so called 12DOF sensor to measure forces/torques and linear/angular accelerations. The basic equations of dynamic forces and torques arising during robot motion and acting on the end-effector were worked out. To be able to perform the experiments suitable robot system based on a six axes articulated manipulator was constituted. For this system also the appropriate software was developed. The load parameters of the tool were determined during particular motion sequence of the robot and the values were compared with values from CAD software. The compensation of dynamic forces and torques is verified using the experimental robot system and the results are presented.