Preparing the published article.
Force Torque Sensor Integration
Force sensing changes the control problem, not just the tooling.
What integration involves
| Item | Consideration |
|---|---|
| Mounting | Position on the wrist and cable routing |
| Calibration | Mass, centre of gravity and zero offsets |
| Control | Whether the controller can close the force loop |
| Filtering | Noise versus responsiveness |
| Safety | Sensor failure behaviour must be defined |
Practical notes
- Re-calibrate after any tooling change.
- Check the sensor rating against the forces the process actually produces.
- Include the sensor weight in the payload calculation.
Force control performance depends on the whole control chain. Validate on the real process.