E-Series Force Torque Raw Data

Technical Questions Robot Communication
1

Is it possible to pull the raw force/torque data out of the force/torque sensor integrated into the UR e-series? The real-time data interface provides a “TCP Force” wrench, but that data is been included for the CB series robots that have no integrated force/torque sensor. Has the data provided on that interface been refined using the FT sensor data or is there a new interface for grabbing the new data?

Any insight here would be appreciated.

Thanks!

2

The TCP Force data represents the data from the FT sensor in e-Series.
In CB3 robots, this is the resulting (less accurate and more noisy) force generalized from the joint energy consumption model.

3

Perfect! Thank you so much for the clarification, Jacob.