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FTS_PARAM_DATA

This structure defines the Force Torque Sensor (FTS) calibration parameters, representing the offset values for each joint’s torque sensor channel. It is used for sensor bias compensation during robot calibration.

BYTE#	Field Name	Data Type	Value	Remarks
0	_fOffset	float[NUMBER_OF_JOINT]		Offset values for each joint’s force/torque sensor reading

Total size: 24 bytes

Defined in: DRFS.h

typedef struct _FTS_PARAM_DATA
{
    /* Offset for each joint */
    float _fOffset[NUMBER_OF_JOINT];

} FTS_PARAM_DATA, *LPFTS_PARAM_DATA;

/* Alias for FTS calibration result */
typedef FTS_PARAM_DATA
    CALIBRATE_FTS_RESPONSE, *LPCALIBRATE_FTS_RESPONSE;