Abstract: A testing system configured to determine at least one physical characteristic of a work piece. The testing system includes an effector frame having an effector interface configured for coupling with a manipulator assembly. The effector frame includes at least one torque sensor. A ballast bracket is configured for coupling between the at least one torque sensor and the work piece. The ballast bracket includes a sensor interface coupled with the at least one torque sensor, and at least one work piece latch configured for coupling with the work piece. A movable ballast assembly is coupled with the ballast bracket, and includes a counter ballast movably coupled with the ballast bracket and movable relative to the at least one torque sensor. A ballast actuator coupled with the counter ballast is configured to move the counter ballast relative to the at least one torque sensor.

Abstract: A method for identifying at least one physical characteristic of a work piece includes selecting at least one test scheme having one or more test configurations. At least one error isolation scheme is selected having one or more counterpart test configurations. The work piece is moved through the one or more test configurations, and a sensor suite measures one or more of base force, torque, or motion. The work piece is moved through the one or more counterpart test configurations, and counterpart force, torque or motion are measured. Identification of the at least one physical characteristic includes isolating error common to one or more of the measured base and counterpart force, torque or motion, and removing the isolated error from the base measurements to generate one or more of refined force, torque or motion. The at least one physical characteristic is determined according to the one or more refined values.

Abstract: A testing system configured to determine at least one physical characteristic of a work piece. The testing system includes an effector frame having an effector interface configured for coupling with a manipulator assembly. The effector frame includes at least one torque sensor. A ballast bracket is configured for coupling between the at least one torque sensor and the work piece. The ballast bracket includes a sensor interface coupled with the at least one torque sensor, and at least one work piece latch configured for coupling with the work piece. A movable ballast assembly is coupled with the ballast bracket, and includes a counter ballast movably coupled with the ballast bracket and movable relative to the at least one torque sensor. A ballast actuator coupled with the counter ballast is configured to move the counter ballast relative to the at least one torque sensor.

Abstract: A method for identifying at least one physical characteristic of a work piece includes selecting at least one test scheme having one or more test configurations. At least one error isolation scheme is selected having one or more counterpart test configurations. The work piece is moved through the one or more test configurations, and a sensor suite measures one or more of base force, torque, or motion. The work piece is moved through the one or more counterpart test configurations, and counterpart force, torque or motion are measured. Identification of the at least one physical characteristic includes isolating error common to one or more of the measured base and counterpart force, torque or motion, and removing the isolated error from the base measurements to generate one or more of refined force, torque or motion. The at least one physical characteristic is determined according to the one or more refined values.

Abstract: A method and system for identifying a moment of inertia (MOI) of a work piece includes coupling the work piece to a manipulator assembly such as a 6-axis robotic arm or 3-axis gimbal. The manipulator assembly includes a force/torque sensor and a motion feedback sensor. The manipulator assembly moves the work piece with three-dimensional motion. Force, torque and movement measurements are made as the work piece moves. The MOI is identified according to the force and torque measurements and rotational accelerations derived from the measured movement. The measurements may be used to identify the products of inertia (POI) and center of mass of the work piece.

Abstract: A method and system for identifying a moment of inertia (MOI) of a work piece includes coupling the work piece to a manipulator assembly such as a 6-axis robotic arm or 3-axis gimbal. The manipulator assembly includes a force/torque sensor and a motion feedback sensor. The manipulator assembly moves the work piece with three-dimensional motion. Force, torque and movement measurements are made as the work piece moves. The MOI is identified according to the force and torque measurements and rotational accelerations derived from the measured movement. The measurements may be used to identify the products of inertia (POI) and center of mass of the work piece.