Wrench.gravity_compensated
-
Wrench.
gravity_compensated
(ft_sensor_frame, mass, center_of_mass)[source] Removes the force and torque in effect of gravity from the wrench.
- Parameters
ft_sensor_frame (
compas.geometry.Frame
) – The coordinate frame of the force torque sensor.mass (float) – The mass of the object in kg.
center_of_mass (
Point
) – The center of mass of the object in meters.
- Returns
Wrench – The gravity compensated wrench.
Examples
>>> mass, com = 10, [0, 0, 1] >>> f = Frame([0, 0, 0], [1, 0, 0], [0, 1, 0]) >>> w = Wrench([0, 0, -98], [0, 0, 0]) >>> w.gravity_compensated(f, mass, com) Wrench(Vector(0.000, 0.000, 0.066), Vector(0.000, 0.000, 0.000))
>>> mass, com = 10, [1, 1, 1] >>> f = Frame([0, 0, 0], [1, 0, 0], [0, 1, 0]) >>> w = Wrench([0, 0, -98], [-98, 98, 0]) >>> w.gravity_compensated(f, mass, com) Wrench(Vector(0.000, 0.000, 0.066), Vector(-88.193, 88.193, 0.000))
Notes
For more info, see 1.
References
- 1
Vougioukas S., Bias Estimation and Gravity Compensation For Force-Torque Sensors, Available at: http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.552.109.