Matlab & Python demonstration on Simplified Bias and Gravity Compensation for Wrist-Mounted F/T sensor

ATI sensor

We are using the ATI axis-80 EnterCAT f/t sensor. By using a Docker package, we can utilize it with ROS2, thereby avoiding Linux sudo privileges and ROS command conflicts. Following ATI-EtherCAT ROS2

The orientation is recorded as [x,y,z,w] format.

Python

Requirements: Scipy

gravity_compute.py: using this file to any environments (Windows or Linux) to calculate the gravity compensation. Results will be on the gravity_result.txt file.

Matlab codes

There are several MATLAB codes for prototyping validation and analysis.

Requirements: robotics toolbox

1. gravity_estimated.m: Prototype code for proposed LSM-short method.
2. gravity_estimated_six_methods.m: Monte Carlo cross-validation(MCCV) on 100 sample datas with 6 different methods.

   The Grobner methods is refereing to this repo: Grobner Solver

3. drifting_show.m: Showing the sensor temperature drifting.
4. gravity_pose_drifting_show.m: Showing the sensor response and drifting when changed a new poses and static standing several seconds.

Data

There are several datas for validation.

1. datas/recorded_messages_pose and datas/recorded_messages_wrench: 7 poses and wrenches for practice estimation.

   Input:

   • recorded_message_pose: the position and pose of the sensor_link with respect to the robot base frame.
   • recorded_message_wrench: the sensor data transformed on the robot base frame.

   Result:

   • x: The estimation result [gravity, bias_x, bias_y, bias_z]
   • xt: The estimation result [centroid of the gripper, bias_torque_x, bias_torque_y. bias_torque,z]
   • e: The estiamtion error on force with each recorded data.
   • et: The estimation error on torque with each recorded data.

2. datas/recorded_messages_pose_100 and datas/recorded_messages_wrench_100 for 100 samples k-fold cross-valid.

3. datas/static_pose_recording: we left sensor static standing for 35 hours for showing the temperature drifting.

4. datas/GP2025-07-22-22-06-02: changed a new poses and static standing several seconds.