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4.2 Hand Parameter Setting
Set the parameters for the weight, size, and center of gravity position of the hand in the parameter
setting window of RT ToolBox3.
For the size, input the total size of the actual hand, force sensor, and attachment adapter. Input the
maximum size in X, Y, or Z direction, not the specific value. (Rectangular parallelepiped)
Input the center of gravity position from the mechanical interface coordinate system when setting it.
Weight and size parameter setting window
Mechanical interface coordinate system
Attachment
adapter
Force sensor
Y
Z
<Setting example>
Size of hand:
X = 150 mm, Y = 20 mm, Z = 150 mm
Attachment adapter: Z = 16 mm
Force sensor: Z = 32.5 mm
Center of gravity position of hand:
X = 75 mm, Y = 0 mm, Z = 100 mm
Total weight (hand + attachment adapter + force
sensor): 2 kg
Set the parameter as shown in the left
(HNDDAT1).
When setting this parameter, set the center of
gravity position carefully.
-30-
+Xm
+Ym
+Zm
X
Hand
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