Hi all:
Recently I have some doubts about the RTED interface output info: “target_moment” and "actual_current "; In the RTED document it describe the “target_moment” as the “Target joint moments (torques)”, and "actual_current " as the “Actual joint currents”.
I asked the UR5 robot to move along the trajectory shown in Figure 1 (which describes the angle changes of each joint during the process), and recorded the “target_moment” and “actual_current” data during this movement. When examining the relationship between the “target_moment” and “actual_current” of each joint, I found that the relationship between the two was similar to two non overlapping linear lines, and there was a situation where different currents corresponded to the same torque (as shown in Figure 2).
I want to know: ① Why do different currents correspond to the same torque? ② The reason for the distance between two linear lines.
Thank you for your help！
