ROBOT_MONITORING_TORQUE

This structure provides real-time torque-related monitoring data of each robot joint, including dynamic torque, torque sensor readings, and external torque/force values.

BYTE#	Field Name	Data Type	Value	Remarks
0	_fDynamicTor	float[6]		Dynamic torque values calculated from robot dynamics.
24	_fActualJTS	float[6]		Actual joint torque sensor readings.
48	_fActualEJT	float[6]		External joint torque values (filtered).
72	_fActualETT	float[6]		External task-space force/torque (Fx, Fy, Fz, Tx, Ty, Tz).

Total size: 96 bytes

Defined in: DRFS.h

typedef struct _ROBOT_MONITORING_TORQUE
{
    float _fDynamicTor[NUM_JOINT];   /* Dynamics Torque */
    float _fActualJTS[NUM_JOINT];    /* Joint Torque Sensor Value */
    float _fActualEJT[NUM_JOINT];    /* External Joint Torque */
    float _fActualETT[NUM_JOINT];    /* External Task Force/Torque */
} ROBOT_MONITORING_TORQUE, *LPROBOT_MONITORING_TORQUE;