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I have the following set-up:

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I read force and torque values in sensor frame, but I want to transform the to tool frame. I have the following equation:

enter image description here

where:

enter image description here

This last matrix shoul be 6x6, but if I resolve enter image description here I have a 3x1 matrix, so I dont understand how can I get the 6x6 matrix.

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1 Answer 1

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The term $P_{SORG}^{T}$ in the transformation represents the skew-symmetric matrix, derived from the position vector. Here's how you put a vector $P = [p_x, p_y, p_z]$ in its skew-symmetric matrix form:

$$ %P_{SORG}^{T} \times = \begin{bmatrix} 0 & -p_z & p_y \\ p_z & 0 & -p_x \\ -p_y & p_x & 0 \end{bmatrix} $$

This is now a 3X3 matrix. When this matrix is multiplied by the rotation matrix, it will give you the remaining 3X3 bottom-left part to build your goal 6X6 force transformation matrix from the sensor frame to the tool frame.

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  • $\begingroup$ It makes sense. I have another question. I have integrated the force sensor in robot flange, and the I have attached a tool . I know HTM betweebn flange and tool, but I dont know the HTM between tool and sensor. How could I calculate it? $\endgroup$ Feb 7 at 9:53

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