Part

Force-torque sensor

You might say: F/T sensor, wrist sensor

A six-axis force-torque sensor measures three forces and three moments, usually between the wrist and tool.

What it does
It enables contact detection, insertion, polishing, hand guiding and force control.
Ask
What six-axis range, resolution, overload and zero drift remain after mounting the tool?
Typical
ATI Mini45 SI-580-20 lists Fx/Fy ±580 N, Fz ±1,160 N, Tx/Ty/Tz ±20 N·m, 0.25 N force resolution, less than 1 ms latency and 40 kHz sample rate.
Trouble
A tool offset, overload, cable force or temperature drift appears as a false wrench unless the sensor is calibrated and zeroed in the loaded setup.

What to look for

  1. Three force readings and three moment readings
  2. Sensor between wrist and tool
  3. Six-axis range and zero drift
  4. False wrench from offset or temperature drift

Sources

  1. ATI Industrial Automation, Mini45 Force/Torque Sensor, Specifications and SI-580-20 calibration6-Axis Force/Torque Sensing – Measures force and torque in all six degrees of freedom (Fx, Fy, Fz, Tx, Ty, Tz)
  2. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Chs. 3–5, wrenches and staticsForces and torques at the joints or at the end-effector of the robot can be measured using various types of force–torque sensors.

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