VREP之力传感器

  • 力传感器最初用于两个形状之间的刚性连接,能够测量两者间传递的力和扭矩。
    在这里插入图片描述- Force sensor object (green) measuring the force and torque exerted by a beam (blue) anchored in a wall (red)
  • 力传感器的刚度是有条件的,存在阈值,超出则broken,阈值可自己设定
  • 力传感器要想运行,要enable 动力学属性
  • 力传感器测量6个值,如下图
  • 关节也能测量力或力矩,但只能测量关节的Z轴方向
    在这里插入图片描述

力传感器属性设置

在这里插入图片描述

  • Filter: when force or torque data is acquired by the force sensor, then it is accumulated and can be filtered (可对其累加和滤波)in order to obtain less jittery values(获得较少的抖动值).
  • Sample size: the number of values that should be used for the filter. (用于filter的值的数目)1 will not filter values (raw output).
  • Average value(平均值): if selected, then the force sensor will deliver average values (average of sample size values).
  • Median value(中值): if selected, then the force sensor will deliver median values (median of sample size values).
  • Breaking settings(自定义行为,即设置一些自动break的条件和行为。): this section allows to set-up some automatic breaking conditions and behavior for a force sensor. Alternatively, the user can programmatically handle breaking conditions and behavior by accessing the appropriate API functions.
  • Force threshold: the amplitude of the force vector that triggers a threshold violation.
  • Torque threshold: the amplitude of the torque vector that triggers a threshold violation
  • Consecutive threshold violations for breaking: the number of consecutive times the sensor is allowed to violate a threshold before breaking.
  • Object size: size of the sensor’s 3D representation. This has no functional effect.
  • Adjust color A / B: allows adjusting the two colors of a force sensor.
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