Joint torque control

Technical Questions URScript
1

Dear UR,
I am trying to use joint torque or motor current to control universal robot. But I have two questions about this.

  1. I didn’t find joint current control or current control commands in any ROS driver. Is there any other way?

  2. There are target_moment and actual_moment RTDE message in controller output. Another question is what difference of these two ?

1 Like