For information on the latest version, please have a look at GL013301.
get_joint_torque (Manual Mode)
This section explains how to use get_joint_torque during Manual (Teach) operations to read the torque values measured by each joint’s built-in torque sensor. These values reflect both gravity-compensated joint load and any external force influence.
Typical usage
Monitor individual joint torques to detect overload or imbalance.
Analyze torque trends during hand-guided motion or gravity compensation tuning.
Verify joint torque readings after collision or compliance operations.
Note
The values represent total joint torque, including dynamic and external effects.
For detecting only external reaction torque, use get_external_torque.
This function is read-only and available in all operation modes.
Example: Display joint torque values for monitoring
#include "DRFLEx.h"
#include <cstdio>
#include <thread>
#include <chrono>
using namespace DRAFramework;
int main() {
CDRFLEx drfl;
// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - Servo enabled or robot stationary for accurate measurement
for (int i = 0; i < 10; ++i) {
LPROBOT_FORCE pJointTor = drfl.get_joint_torque();
if (pJointTor) {
std::printf("[Joint Torque] J1=%.2f J2=%.2f J3=%.2f J4=%.2f J5=%.2f J6=%.2f\n",
pJointTor->_fFx, pJointTor->_fFy, pJointTor->_fFz,
pJointTor->_fTx, pJointTor->_fTy, pJointTor->_fTz);
}
std::this_thread::sleep_for(std::chrono::milliseconds(200));
}
return 0;
}
In this example, the host PC periodically queries the robot controller for joint torque values. The printed output displays real-time torque feedback for all six joints, which can be used to detect unbalanced loads or verify torque behavior during manual movement. This approach helps confirm that the robot’s torque sensors and payload parameters are functioning correctly.
Tips
Ideal for teaching mode diagnostics and gravity compensation verification.
If torque readings drift when stationary, check payload settings or calibration.
Compare with get_external_torque to distinguish joint vs. external torque effects.
Avoid sampling during high-speed motion to prevent transient spikes from inertia.