You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

get_tool_force

This function retrieves the force and moment applied at the robot tool center point (TCP). The force is expressed relative to the specified coordinate system (default: BASE). Internally, it is estimated using joint torque sensors and the robot’s dynamic model.

Definition
DRFLEx.h within class CDRFLEx, public section (line 735)

LPROBOT_FORCE get_tool_force(COORDINATE_SYSTEM eTargetRef = COORDINATE_SYSTEM_BASE) {
    return _get_tool_force(_rbtCtrl, eTargetRef);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eTargetRef	COORDINATE_SYSTEM	COORDINATE_SYSTEM_BASE	Reference coordinate system in which the TCP force is expressed.

Return

Value	Description
LPROBOT_FORCE	Pointer to a structure containing the estimated TCP force (Fx, Fy, Fz) and moment (Mx, My, Mz). Force unit: N, Moment unit: N·m

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;
    // Assume robot connection and operation mode initialized

    LPROBOT_FORCE lpForce = drfl.get_tool_force(COORDINATE_SYSTEM_BASE);
    if (lpForce) {
        printf("Tool Force and Moment (Base Coordinate)\n");
        printf("Force  [N]:  Fx=%.2f  Fy=%.2f  Fz=%.2f\n",
               lpForce->_fForce[0],
               lpForce->_fForce[1],
               lpForce->_fForce[2]);
        printf("Moment [N·m]: Mx=%.3f  My=%.3f  Mz=%.3f\n",
               lpForce->_fTorque[0],
               lpForce->_fTorque[1],
               lpForce->_fTorque[2]);
    } else {
        fprintf(stderr, "Failed to retrieve tool force.\n");
    }

    return 0;
}

This example prints the current force and torque applied at the TCP, expressed in the base coordinate system.
It can be used for:

• Detecting contact with objects (e.g., surface alignment)

• Measuring external forces during force-control applications

• Validating compliance and impedance control responses