-2
$\begingroup$

I plan to do some scientific research, after modeling and path planning for the robot, The algorithm outputs the Joint control torque(or Joint variable), and then i want to input this result to the robot Control platform to check my algorithm, as far as I know, most robot can only provide point-to-point tracking instructions(NOT torque\joint variable input API),any robot can supports torque or joint variable as the robot input(when i input joint variable or torque, robot can move)?

How can I program a 6 DOF robot using torque rather than joint positions as input?

If you have any questions or concerns, don't hesitate to let me know.

$\endgroup$
  • $\begingroup$ It's not clear what you're asking. Do you just want a recommendation for a 6 dof robot that supports torque on a joint as input? $\endgroup$ – Eric Lavigne Dec 25 '17 at 18:26
  • $\begingroup$ @Eric Lavigne yes $\endgroup$ – Ben Dec 25 '17 at 21:03
0
$\begingroup$

This article explains how to implement joint-torque control on top of position-controlled robots.

Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors https://hal.archives-ouvertes.fr/hal-01136936/document

Copied from another StackExchange question:

https://robotics.stackexchange.com/a/7531/18316

$\endgroup$
  • $\begingroup$ this one can supports torque or joint variable as robot input? $\endgroup$ – Ben Dec 25 '17 at 21:05

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.