# Control of robot joints torques

**URL:** <https://forum.universal-robots.com/t/control-of-robot-joints-torques/9186>\
**Category:** URScript\
**Created:** [October 21, 2020, 10:07am UTC](https://forum.universal-robots.com/t/control-of-robot-joints-torques/9186 "2020-10-21T10:07:46Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![anon59108369](https://avatars.discourse-cdn.com/v4/letter/a/f05b48/32.png) [@anon59108369](https://forum.universal-robots.com/u/anon59108369)\
**Post date:** [October 21, 2020, 10:07am UTC](https://forum.universal-robots.com/t/control-of-robot-joints-torques/9186/1 "2020-10-21T10:07:46Z")

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Hi,  
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:

1. How to control joint torques of the robot in 500Hz
2. Is there an easy wat to obtain jacobian (J), inertia matrix (H) and the matrix h using the robot?

![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/0/0ec3fa82ff506648adbb8f539583c753009773b1.png)

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<div class="post-metadata">

**Author:** ![anon58711801](https://avatars.discourse-cdn.com/v4/letter/a/f17d59/32.png) [@anon58711801](https://forum.universal-robots.com/u/anon58711801)\
**Post date:** [October 21, 2020, 1:49pm UTC](https://forum.universal-robots.com/t/control-of-robot-joints-torques/9186/2 "2020-10-21T13:49:10Z")

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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…).