Getting the motor torque of YUMI
Hi all,
I am recently using the YUMI robot. I have learned from a paper that we can get the motor torque of YUMI in real time and estimate the external force, but unfortunatelly there was no more details in that paper.
Anyone managed to do that or has succesfully done? Could you share me the demo to help me get the motor torque of YUMI?
Thanks a lot!
I am recently using the YUMI robot. I have learned from a paper that we can get the motor torque of YUMI in real time and estimate the external force, but unfortunatelly there was no more details in that paper.
Anyone managed to do that or has succesfully done? Could you share me the demo to help me get the motor torque of YUMI?
Thanks a lot!
Comments
https://www.researchgate.net/publication/290533655_Constraint-Based_and_Sensorless_Force_Control_with_an_Application_to_a_Lightweight_Dual-Arm_Robot
I work on Yumi robot, I can not recover the position and the torque of axis 7. I have try to do it with the function get motortorque but it available just for the 6 axes.
did you get to do it?
You may try the below method for the right arm:
torque := GetMotorTorque(\MecUnit := ROB_R_7,1); @MERYEM_TAGH