Study on Impact Test System of Manipulator Based on Six Axis Force Sensor and Intelligent Controller

Table 3

Results of mechanical arm impact test.

Serial number	Detection force/N	Component force in three directions/N	Collision position/mm	Capacity of calculation/N	Calculation position/mm	Force absolute error/N	Relative error of force/%	Position absolute error/mm	Relative position error/%
1		-45.01	116.79	-46.36	122.10	1.35	0.88	5.31	4.83
	100	-62.86	69.72	-62.23	76.49	0.63	0.88	6.77	4.83
		63.41	298.71	64.45	302.47	1.03	0.88	3.76	4.83
		62.35	0	60.38	1.35	1.97	2.38	1.35	1.78
2	100	73.95	38.49	72.75	37.64	1.20	2.38	0.85	1.78
		25.38	167.03	24.31	167.90	1.07	2.38	0.87	1.78
		72.19	213.41	70.71	226.90	1.48	0.58	13.41	7.78
3	100	30.16	124.08	29.67	135.71	0.49	0.58	11.63	7.78
		-62.28	486.49	-63.28	503.80	0.99	0.58	17.31	7.78
		76.9	64.07	78.76	261.18	1.81	0.76	2.65	2.85
4	100	14.69	36.83	16.42	261.18	1.73	0.76	2.16	2.85
		-62.22	264.19	-61.65	261.18	0.56	0.76	3.01	2.85
		92.68	40.03	94.56	40.46	2.26	2.20	0.43	1.55
5	100	10.35	0	9.67	0.04	0.67	2.20	0.04	1.55
		36.08	148.03	37.55	149.93	1.47	2.20	1.90	1.55
		-82.94	48.63	-84.19	47.32	1.25	1.95	0.49	2.39
6	100	48.67	0	49.61	2.38	0.93	1.95	2.38	2.39
		-27.41	184.16	-29.05	85.84	1.64	1.95	1.68	2.39