# \#force-torque **URL:** https://forum.universal-robots.com/tag/force-torque/17.md [Latest](https://forum.universal-robots.com/latest.md) · [Categories](https://forum.universal-robots.com/categories.md) · [Tags](https://forum.universal-robots.com/tags.md) --- ## [Insertion with Force command and a spiral](https://forum.universal-robots.com/t/insertion-with-force-command-and-a-spiral/11115)
**Author:** [@pgy](https://forum.universal-robots.com/u/pgy)\ **Replies:** 1\ **Last updated:** [July 5, 2023, 10:01pm UTC](https://forum.universal-robots.com/t/insertion-with-force-command-and-a-spiral/11115 "2023-07-05T22:01:57Z")
Hi, I make some experiments with the Force command to insert a plug into a socket. I used the spiral script provided here: How to make a spiral motion on a surface of 5cm \* 3cm using universal robot? It’s more or l… --- ## [Internal Force Sensor properties](https://forum.universal-robots.com/t/internal-force-sensor-properties/229)
**Author:** [@anon2960714](https://forum.universal-robots.com/u/anon2960714)\ **Replies:** 9\ **Last updated:** [March 14, 2022, 10:52am UTC](https://forum.universal-robots.com/t/internal-force-sensor-properties/229 "2022-03-14T10:52:05Z")
We are very interested in an application using the force sensor, right now we compare the Robotiq FT 300 and the internal sensor of the UR. There are some interesting measurement results and I really like to dicuss thes… --- ## [Read values from Ur5e built-in force/torque sensor](https://forum.universal-robots.com/t/read-values-from-ur5e-built-in-force-torque-sensor/11804)
**Author:** [@dongting](https://forum.universal-robots.com/u/dongting)\ **Replies:** 1\ **Last updated:** [January 25, 2021, 5:44pm UTC](https://forum.universal-robots.com/t/read-values-from-ur5e-built-in-force-torque-sensor/11804 "2021-01-25T17:44:24Z")
Hi there I just get a new ur5e installed and I am interested in using the built-in force/torque sensor. I am wondering how can I read force from that internal sensor. Should I use get\_tcp\_force() or that sensor can only… --- ## [Robotiq Force Torque sensor value increases after stop](https://forum.universal-robots.com/t/robotiq-force-torque-sensor-value-increases-after-stop/180)
**Author:** [@anon2960714](https://forum.universal-robots.com/u/anon2960714)\ **Replies:** 0\ **Last updated:** [August 18, 2016, 12:15pm UTC](https://forum.universal-robots.com/t/robotiq-force-torque-sensor-value-increases-after-stop/180 "2016-08-18T12:15:57Z")
The program does the following: move the robot in z- direction until it hits the obstacle ( in my case a book ) on the table when the force in Z- direction is more than 50N a textmsg is logged and the movement stopped … --- ## [How to get joint torque by joint current?](https://forum.universal-robots.com/t/how-to-get-joint-torque-by-joint-current/9758)
**Author:** [@anon96139362](https://forum.universal-robots.com/u/anon96139362)\ **Replies:** 1\ **Last updated:** [December 11, 2020, 6:31am UTC](https://forum.universal-robots.com/t/how-to-get-joint-torque-by-joint-current/9758 "2020-12-11T06:31:01Z")
Dear UR We are trying to monitor the UR robot joint torque by real time data exchange to create alert for joint overload during production. We find in RTDE there is only the joint actual current available. Is there an… --- ## [Only compliance at TCP, not rest of robot](https://forum.universal-robots.com/t/only-compliance-at-tcp-not-rest-of-robot/10613)
**Author:** [@anon58711801](https://forum.universal-robots.com/u/anon58711801)\ **Replies:** 4\ **Last updated:** [December 9, 2020, 9:05am UTC](https://forum.universal-robots.com/t/only-compliance-at-tcp-not-rest-of-robot/10613 "2020-12-09T09:05:16Z")
Hi, Currently, I am working on a project to create an impedance controller for the ur5e. I managed to create an impedance controller with force\_mode(). However, in forcemode(compliance=\[1,1,1,1,1,1\]) the robot is only … --- ## [Tcp/ip force data](https://forum.universal-robots.com/t/tcp-ip-force-data/8691)
**Author:** [@anon31246810](https://forum.universal-robots.com/u/anon31246810)\ **Replies:** 3\ **Last updated:** [September 29, 2020, 7:08am UTC](https://forum.universal-robots.com/t/tcp-ip-force-data/8691 "2020-09-29T07:08:21Z")
I’m writing a Windows-based C++ package to use with URe3 arms in a university class. I’ve been able to intercept the periodic data packages from ports 30001/2 and am decoding subpackages. I’ve been able to successfully… --- ## [Internal FT sensor](https://forum.universal-robots.com/t/internal-ft-sensor/7265)
**Author:** [@anon4739170](https://forum.universal-robots.com/u/anon4739170)\ **Replies:** 12\ **Last updated:** [May 13, 2020, 7:53am UTC](https://forum.universal-robots.com/t/internal-ft-sensor/7265 "2020-05-13T07:53:04Z")
Hello there! Hope everyone is ok with the current situation all over the world. I am trying to detect weigh differences when picking a box. As in this topic (Payload measurement on robot) is said I followed these steps… --- ## [Implement impedance control - Inertia and jacobian matrix](https://forum.universal-robots.com/t/implement-impedance-control-inertia-and-jacobian-matrix/6600)
**Author:** [@oren.spector](https://forum.universal-robots.com/u/oren.spector)\ **Replies:** 7\ **Last updated:** [March 23, 2020, 11:50am UTC](https://forum.universal-robots.com/t/implement-impedance-control-inertia-and-jacobian-matrix/6600 "2020-03-23T11:50:37Z")
Hello all, I need H,J of the robot to perform trajectory in the eef in real-time. I didn’t find any note or explanation of how it can be done. for clarity, i would like to define parameters and receive it as input via r… --- ## [Payload measurement on robot](https://forum.universal-robots.com/t/payload-measurement-on-robot/871)
**Author:** [@anon92958969](https://forum.universal-robots.com/u/anon92958969)\ **Replies:** 6\ **Last updated:** [December 19, 2019, 11:57am UTC](https://forum.universal-robots.com/t/payload-measurement-on-robot/871 "2019-12-19T11:57:06Z")
Is it possible to find out the payload a UR is carrying at any point in time and whats the accuracy of the measurement? If this cannot be done as is, is there a sensor such as loadcell that can be attached to the arm to … --- ## [Payload compensation with RTDE force injection](https://forum.universal-robots.com/t/payload-compensation-with-rtde-force-injection/2053)
**Author:** [@malacasse](https://forum.universal-robots.com/u/malacasse)\ **Replies:** 9\ **Last updated:** [October 24, 2019, 6:34pm UTC](https://forum.universal-robots.com/t/payload-compensation-with-rtde-force-injection/2053 "2019-10-24T18:34:14Z")
With the Robotiq FT300 sensor, we have a calibration process to remove the payload effect from sensor values. With force injection, we must send the non-compensate sensor value to RTDE because the robot controller appli… --- ## [UR motion imprecise in force\_mode](https://forum.universal-robots.com/t/ur-motion-imprecise-in-force-mode/929)
**Author:** [@anon75497214](https://forum.universal-robots.com/u/anon75497214)\ **Replies:** 5\ **Last updated:** [August 19, 2019, 9:05am UTC](https://forum.universal-robots.com/t/ur-motion-imprecise-in-force-mode/929 "2019-08-19T09:05:10Z")
We are using the UR3 in force\_mode to not immediately panic when hitting an obstacle but rather to react accordingly. Since the speed limits (which are position deviation limits when no axis is selected to be compliant) … --- ## [Force sensor in UR5 Eseries](https://forum.universal-robots.com/t/force-sensor-in-ur5-eseries/4083)
**Author:** [@anon21401016](https://forum.universal-robots.com/u/anon21401016)\ **Replies:** 1\ **Last updated:** [April 16, 2019, 6:34am UTC](https://forum.universal-robots.com/t/force-sensor-in-ur5-eseries/4083 "2019-04-16T06:34:44Z")
Hi, I hope I can ask this question here, if not, please forgive me. I would like to order a new UR robot for our factory. I carried out an investigation among your technical documentations looking for details and I ha… --- ## [TCP force values in Teach mode](https://forum.universal-robots.com/t/tcp-force-values-in-teach-mode/2684)
**Author:** [@anon69162676](https://forum.universal-robots.com/u/anon69162676)\ **Replies:** 1\ **Last updated:** [September 13, 2018, 7:31am UTC](https://forum.universal-robots.com/t/tcp-force-values-in-teach-mode/2684 "2018-09-13T07:31:11Z")
I have found that the values of the TCP force, taken from the RTDE actual\_TCP\_force on a UR5 with CB3, are not consistent when the robot is in Teach mode. More precisely, we mounted an additional force sensor (ATI Mini45… --- ## [Calculate the weight of object held by gripper](https://forum.universal-robots.com/t/calculate-the-weight-of-object-held-by-gripper/2002)
**Author:** [@anon94763411](https://forum.universal-robots.com/u/anon94763411)\ **Replies:** 1\ **Last updated:** [May 21, 2018, 2:34pm UTC](https://forum.universal-robots.com/t/calculate-the-weight-of-object-held-by-gripper/2002 "2018-05-21T14:34:14Z")
Hello, Is it possible to calculate the weight of an object hold by robotic gripper? --- ## [Edge following based on force feedback](https://forum.universal-robots.com/t/edge-following-based-on-force-feedback/684)
**Author:** [@anon90092764](https://forum.universal-robots.com/u/anon90092764)\ **Replies:** 1\ **Last updated:** [April 21, 2017, 12:13pm UTC](https://forum.universal-robots.com/t/edge-following-based-on-force-feedback/684 "2017-04-21T12:13:10Z")
Hi all, i try to do a demo application same as video below. https://www.youtube.com/watch?v=mRIigsjqRe0 tool of robot will follow the edge of the object based on the force feedback from force sensor. Tried to do the … --- ## [Client Interface values for ToolData / Analog Input](https://forum.universal-robots.com/t/client-interface-values-for-tooldata-analog-input/386)
**Author:** [@anon67492748](https://forum.universal-robots.com/u/anon67492748)\ **Replies:** 1\ **Last updated:** [November 30, 2016, 7:32am UTC](https://forum.universal-robots.com/t/client-interface-values-for-tooldata-analog-input/386 "2016-11-30T07:32:30Z")
The tool data package contains the AnalogInputRange2/3: Tool Data (value 2) Size in Data type Meaning Notes bytes 4 integer Package length (bytes) 37 bytes 1 uchar Package type Type i…