How to get joint torque by joint current?

Technical Questions
1

Dear UR

We are trying to monitor the UR robot joint torque by real time data exchange to create alert for joint overload during production.

We find in RTDE there is only the joint actual current available.

Is there any method to calculate the actual joint torque from the joint current?

Thanks in advance !

1 Like
2

Hi,
I basically have the same question.
I found this thread Some doubts about URScript: get_tcp_foce - URScript - Universal Robots Forum (universal-robots.com).
However, the proposed method of dividing target moments by target current does not yield constants at all. So I would also like to know how the script function computes the torque. Is it based on some nonlinear motor model?