Getting the motor torque of YUMI

Qh123

 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! 

drm0hr

Just out of curiosity, what paper did you see this in?

kazoo

I found this, but not sure it really doesn't use FT Sensor or not
https://www.youtube.com/watch?v=oMAMyCeFahM

kazoo

Maybe this is the paper you are looking for.
https://www.researchgate.net/publication/290533655_Constraint-Based_and_Sensorless_Force_Control_with_an_Application_to_a_Lightweight_Dual-Arm_Robot

MERYEM_TAGH

hi 
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?

Brian_Li

Hi MERYEM_TAGH,
You may try the below method for the right arm:
torque := GetMotorTorque(\MecUnit := ROB_R_7,1); @MERYEM_TAGH