Getting the motor torque of YUMI

Qh123 · February 2017

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 · May 2017

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

kazoo · July 2017

I found this, but not sure it really doesn't use FT Sensor or not

https://www.youtube.com/watch?v=oMAMyCeFahM

kazoo · July 2017

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 · September 2018

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 · September 2018

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

Getting the motor torque of YUMI

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