Workpiece Mass Compensation

Stacey Harimoto reviews the use of workpiece mass compensation with a force sensor, including the calibration process, software availability, and measurement at up to + or - 45 degrees. The compensation process allows one to estimate box mass, adjust speed/acceleration based on weight, and change the payload settings of the robot. The calibration involves the force sensor, sensor adapter, gripper, and real workpiece, with calibration and measurement times specified. The process also includes setting the weight of the end of arm tool, spinning the tool, taking measurements, and ensuring there are no collisions. Example subprograms and production programs are mentioned.