Robotiq FT-150/300 Sensor
Instruction Manual
Robotiq inc. © 2016
51
5.2.1 Moment of inertia and center of mass
The coordinate system used for calculating the moment of inertia and center of mass for the FT Sensor is shown in
.
Info
All values are approximate. Actual coordinates may vary according to various options present on
the Sensor.
Here is the approximate position of the center of mass for the FT Sensor :
Coordinate
FT 150 (mm)
FT 300 (mm)
G
X
1.5
- 0.3
G
Y
0
0
G
Z
2.5
20.3
Here is the approximate moment of inertia matrix for the FT Sensor, taken at the coordinate system origin :
Figure 5.2.1.1 : Moment of inertia of the FT Sensor 150 and 300.
