FT 300 Force Torque Sensor - Instruction Manual
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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 the figure
below.
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:
Sensor
Combination
x (mm)
y (mm)
z (mm)
Mass (g)
FT 300
-
0
0
17
300
2-Finger 85
0
0
76
1205
2-Finger 140
0
0
83
1275
Wrist Camera
0
2
30
530
Wrist Camera and 2-Finger 85
0
1
77
1275
Wrist Camera and 2-Finger 140
0
1
85
1340
Here is the approximate moment of inertia matrix for the FT Sensor, taken at the coordinate system origin:
Fig. 5.14: Moment of inertia of the FT 300 Sensor.
