Zero FT Sensor
SUMMARY
Zero FT Sensor tares the wrist force/torque sensor, offsetting all subsequent raw F/T readings so the current load (e.g., a newly mounted tool) reads as zero.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
robot.zero_ft_sensor()The Code
Example: Zero the FT Sensor After Mounting a Tool
Zero the sensor after attaching a new end-effector to remove its weight from subsequent readings.
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
robot.zero_ft_sensor()
logger.success("F/T sensor zeroed.")
# Disconnect
robot.disconnect()The Explanation of the Code
zero_ft_sensor sends a tare command to the robot controller. The controller offsets all subsequent raw F/T measurements so that the current total load (gravity + tool weight) reads as zero. Call this at the robot's rest pose after mounting a new tool or changing the payload, before any force-controlled task. Note: zeroing at a non-rest pose will include gravitational components of the tool in the offset; only zero when the robot is stationary at its standard calibration pose.
How to Tune the Parameters
This skill takes no input parameters.
Return Value
| Value | Description |
|---|---|
None | This skill returns nothing. |
Where to Use the Skill
- Post-tool-change calibration.
- Resetting F/T baseline before a force-controlled insertion or grinding task.
When Not to Use the Skill
Use a different skill instead in these cases:
- Do not zero the sensor mid-task; this will corrupt all subsequent raw wrench readings for the duration of the session.