I am trying to implement some kind of a control law in real-time on UR5e.
In order to do that I need to be able to control the joint torques via RTDE.
Is there a command that allows me to modify the robot joint torques values?
Here is an expression that governs the joint torques but before I can implement it I need to know:
- How to control joint torques of the robot in 500Hz
- Is there an easy wat to obtain jacobian (J), inertia matrix (H) and the matrix h using the robot?
I looked for the same possibility since I wanted to create a force-based control law. However, I am pretty sure that there is no possibility to control the joint torques(directly).
Right now I’m using the force mode, which is actually easier in a way because now I do not need the jacobian(which means I derived the jacobian for nothing…).