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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.

Payload Utilities

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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:

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.

Ready to Get Started?

1

Learn the Concept

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

2

Choose Your SDK

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

💡 Tip: New to our Payload Utilities? Start with the Concept.
Already familiar? Jump directly to your preferred SDK documentation.