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The Payload Utilities are part of the Bota Control Toolkit. It is highly advisable to first read about the Bota Control Toolkit to understand the broader context and architecture.
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The payload utilities require a Bota Systems FT sensors with an onboard IMU.

In force control applications, it is often necessary to account for the effects of payloads attached to the force-torque sensors. For this reason, Bota Systems has developed a package that provides two essential components for handling payload-related calculations and compensations in force-torque sensor applications: .. raw:: html

Payload Estimator

Estimates payload properties (mass, center of mass, inertia) based on force-torque and IMU measurements during different robot orientations.

Payload Compensator

Compensates force-torque measurements for known payload effects, removing gravitational and inertial influences from sensor data.

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Ready to Get Started?

1

Learn the Concept

Understand how the payload utilities architecture works and the key concepts behind it.

Read Concept
2

Choose Your SDK

Select your preferred development platform and get started with code examples.

C++ Python ROS2
💡 Tip: New to our Payload Utilities? Start with the Concept.
Already familiar? Jump directly to your preferred SDK documentation.
.. toctree:: :maxdepth: 3 :caption: SDKs :hidden: payload_utils_concept payload_utils_sdks