Table 1 Specifications of the FT sensor
From: A Novel 6-DOF Force-Sensed Human-Robot Interface for an Intuitive Teleoperation
Specifications | Fx (N) | Fy (N) | Fz (N) | Mx (N·m) | My (N·m) | Mz (N·m) |
|---|---|---|---|---|---|---|
Measuring range | ± 300 | ± 300 | ± 300 | ± 30 | ± 30 | ± 30 |
Recommended threshold for contact detection | 1 | 1 | 1 | 0.02 | 0.02 | 0.01 |
Signal noise | 0.1 | 0.1 | 0.1 | 0.005 | 0.005 | 0.003 |
Data output rate (Hz) | 100 | |||||
Mass (g) | 440 | |||||
Communication protocol | Modbus RTU/Data stream (RS-485) | |||||