we are working in some research projects and would also like to use an existing UR10(e) as a demonstrator for control algorithms. Is there any way (e.g. low level APIs, own UR-CAPs, etc) we can comand and control the joint torques / currents / voltages? Anything more low level than joint speed?
There is no method for setting the joint torques. The script function “force_mode()” is what get closest. Maybe with the DH-parameters you can do the dynamics calculation from joint torques into tool force/torques
thanks for the answer. This sounds like a suboptimal and computation intensive route. I will have a look though.
Any chance the “servoj” “a”-parameter" might be useable in the future? Or to provide a low level “research-interface” ?