Hello, I want to obtain the theoretical torques of each join when the robot is applying a force in the tool, using the next formula:
Maybe, Someone could provide me with the Jacobian matrix of the Ur5e.
The UR5e homogenous matrix and the jacobian are in the next publications:
https://www.frontiersin.org/articles/10.3389/frobt.2016.00001/full (open supplementary data button)