Hi！
I have a Kinova Gen3 robot manipulator that has a FIXED control frequency of 1k Hz. However, a force/torque sensor we are using has a maximum data frequency of 100 Hz. To this end, are there any solutions to communicate these two agents? It would be appreciated if anyone could give some suggestions. Thanks!
Dear Jingdong Chen
This thesis and paper might be useful, have a look:
1. https://www.diva-portal.org/smash/get/diva2:16904/FULLTEXT01.pdf
2. https://www.mdpi.com/1424-8220/17/6/1247
Kind Regards
Qamar Ul Islam
F/T Sensor frequency of 100 Hz is quite low for force control and will definitely impact the quality of control. In practice just use the last measurement for 10 consecutive control time steps. You could do interpolation from the gradient of last two or three sensor data, but it will not improve the quality much, since F/T data are usually noisy and F/T data also usually have quite fast dynamics. Hold last sensor data (if you need a fancy name call it nearest neighbour interpolation).
A better sensor would be the preferred solution, but if you are limited with sensors then you should not have too big expectations.
Qamar Ul Islam
Thank you, Dr. Islam. I would like to check out these two papers.
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