Hello
I am trying to get the joint torques of the UR5e robot. I read this post Some doubts about URScript: get_tcp_foce - #6 by mmi
I used the RTDE Python interface (GitHub - UniversalRobots/RTDE_Python_Client_Library: RTDE client library and examples) to get the target_moment and target_current.
The torques constant kt_i and joint torques were calculated by:
kt_i = target_moment_i/target_current_i
joint_torque_i = actual_current_i* Kti
In addition, I used the get_joint_torques() of the URScrip reference manual
However, when I plot the two differents methods to get the joint torques these are different.
blue line: joint torques using the URscript function get_joint_torques
magenta line: joint torques using the data ((target_moment, target_current, actual_current) from the RTDE interface
Why?
What is the correct way to get the joint torques using the RTDE interface (target_moment, target_current, actual_current)