iCubGenova09 (iRonCub3) S/N:000 – Right arm FT sensor readings freeze when applying high loads

[HosameldinMohamed]

Robot Name 🤖

iCubGenova09 (iRonCub3) S/N:000

Request/Failure description

Some days ago, we noticed that the right arm FT changed it's behavior, and the change was significant. Moreover, when applying a high load on the sensor, the readings freeze, which didn't happen a few months ago.

Detailed context

Details of the FT changing its behavior in https://github.com/ami-iit/element_ft-nonlinear-modeling/issues/83

Details of freezing the FT readings in https://github.com/ami-iit/element_ft-nonlinear-modeling/issues/89#issuecomment-1688042147

Additional context

No response

How does it affect you?

No response

[AntonioConsilvio]

Hi @HosameldinMohamed, me and @fbiggi replaced the FT sensor with a new one.

We tested the old FT sensor (SN: 080) and found Channel 4 saturated. We tried to solve the problem without success.

We then replaced the FT sensor with a new one (SN: 095). This FT has been tested and it works

However, please give us feedback after your tests.

cc @maggia80 @sgiraz @gabrielenava

[HosameldinMohamed]

Thanks guys! We tested the sensor and logged some data.

Here are some tests with applying arbitrary high forces on the FT,

The data seem fine!

FX

FY

FZ

TX

TY

TZ

[AntonioConsilvio]

Thank you @HosameldinMohamed for the feedback!

Since the data plot is good, I will proceed with closing the issue.

If the problem recurs, feel free to reopen the issue.

Cc @maggia80 @sgiraz