Greetings, i have a doubt about the value of actual current (as well as target current) in the values given by the RTDE protocol.
I can access a value of current for each joint, but i really do not understand what that value could be. Since the joints mount AC motors it could be either RMS current or the magnitude of the current space vector, but in both cases the current can not be negative, and in some cases it is. If it was the current of one single phase it should be alternating, at least in the interval of costant motion of the joint.
Could you please be precise about what value is given, i need it to perform power evaluations so it is necessary to know whether it is RMS or phase current or whatever else.
Also knowing the type of sensors that are used would be better tha nothing.
Thanks