Get the robot force aplied to do movements

Hello, I need to get the force to apply to the robot when doing a movement.
I used “get_tcp_force()”, but it gives tool forces.
Is there some way to calculate these values?


You mean like you’d like to just get a single value back, say newtons of force? If so, the force() command might be what you’re after.


Just be sure to take note of the Note at the bottom there. If you don’t call “zero_ftsensor()” before using force(), you may get a junk return value as the force sensor can accumulate error. Always best to tare it before taking a measurement.