# Joint torque control

**URL:** <https://forum.universal-robots.com/t/joint-torque-control/22116>\
**Category:** URScript\
**Created:** [June 21, 2022, 8:49am UTC](https://forum.universal-robots.com/t/joint-torque-control/22116 "2022-06-21T08:49:01Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![15526774431](https://avatars.discourse-cdn.com/v4/letter/1/a587f6/32.png) [@15526774431](https://forum.universal-robots.com/u/15526774431)\
**Post date:** [June 21, 2022, 8:49am UTC](https://forum.universal-robots.com/t/joint-torque-control/22116/1 "2022-06-21T08:49:01Z")

</div>

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 ?