V-REP 力传感器配置 | Configuration of V-REP force sensor

仿真中用到的文件资源请访问Github：

https://github.com/zanebin/V-REP_Demo

力传感器简介

一个力传感器可以同时测出三个方向的力和力矩， VREP中力传感器的一大用处就是用来测量机器人与外界环境交互时的接触力，比如检测机械手爪的夹持力或是机器人脚底的压力分布等信息。通常需要将力传感器添加在末端（手指或脚底板上）然后再连接一个接触体。

UR5模型中自带一个名为UR5_connection的ForceSensor

力传感器参数设置

这里模型的参数已经配置好，没有其他需求的情况下暂时不需要修改。

参数设置如下：

Filter: when force or torque data is acquired by the force sensor, then it is accumulated and can be filtered in order to obtain less jittery values.

Sample size: the number of values that should be used for the filter. 1 will not filter values (raw output).

Average value: if selected, then the force sensor will deliver average values (average of sample size values).

Median value: if selected, then the force sensor will deliver median values (median of sample sizevalues).

Breaking settings: 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 functions.

Force threshold: the amplitude of the force vector that triggers a threshold violation.

Torque th