Hello, I am currently understanding the UR16e robot and am trying to accurately understand the placement of its force-torque sensor. From my interpretation of the diagram, it seems that the sensor is positioned directly before the end effector, possibly at the very end of the robot’s tool flange. However, I’m unsure if this interpretation is correct or if the sensor is slightly offset from this center point. Could anyone provide me a more precise explanation of the force-torque sensor’s exact location relative to the end effector? Thank you!
It’s placed fairly close to the tool mounting flange. I don’t think there’s a number anywhere indicating the actual distance.
Why do you need this? 
The force/torque value measured by the sensor should correlate to the center of tool mounting flange.
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