OnRobot VGC10, Руководство пользователя, Страница: 120 / 213

Operation
120
RG2-FT
Feedback Variable Unit Description
on_return The return value for the OnRobot commands
F3D [N]
Length of the 3D force vector
F3D = sqrt (Fx2 +Fy2 +Fz2)
F3D_Left [N]
Length of the 3D force vector for the left finger
sensor F3D_Left=
√𝐹𝑥
𝐿
2
+ 𝐹𝑦
𝐿
2
+ 𝐹𝑧
𝐿
2
F3D_Right [N]
Length of the 3D force vector for the right finger
sensor F3D_Right=
√𝐹𝑥
𝑅
2
+ 𝐹𝑦
𝑅
2
+ 𝐹𝑧
𝑅
2
FT_Base [3xN,3xNm]
Force and torque values calculated in the Base
Coordinate system, in an array
FT_Left [3xN,3xNm] list of {Fx,Fy,Fz,Tx,Ty,Tz} for the left finger sensor
FT_Right [3xN,3xNm] list of {Fx,Fy,Fz,Tx,Ty,Tz} for the right finger sensor
FT_Tool [3xN,3xNm]
Force and torque values calculated in the Tool
Coordinate system, in an array
Part_Width [mm]
The actual value of the detected part width (-1 if it
not applicable) measured by the proximity sensors
Proximity_Left [mm] The left proximity (distance) sensor actual value
Proximity_Right [mm] The right proximity (distance) sensor actual value
T3D_Left [Nm]
Length of the 3D torque vector for the left finger
sensor T3D_Left=
√𝑇𝑥
𝐿
2
+ 𝑇𝑦
𝐿
2
+ 𝑇𝑧
𝐿
2
T3D_Right [Nm]
Length of the 3D torque vector for the right finger
sensor T3D_Right=
√𝑇𝑥
𝑅
2
+ 𝑇𝑦
𝑅
2
+ 𝑇𝑧
𝑅
2
T3D [Nm]
Length of the 3D torque vector
T3D = sqrt (Tx2 +Ty2 +Tz2)
Width [mm]
Distance between the fingers of the Gripper
(calculated by finger angle encoders)