get_joint_torque

This function retrieves the measured joint torque values from the robot’s internal torque sensors. Each joint torque value represents the applied load or motor-generated torque in real-time, which can be used for diagnostics, gravity compensation, or compliance control.

Definition
DRFLEx.h within class CDRFLEx, public section (line 731)

LPROBOT_FORCE get_joint_torque() {
    return _get_joint_torque(_rbtCtrl);
};

Parameter
None

Return

Value	Description
LPROBOT_FORCE	Pointer to a structure containing the measured torque values for each robot joint (J1–J6). Units: N·m

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;
    // Assume connection and initialization completed

    LPROBOT_FORCE lpForce = drfl.get_joint_torque();
    if (lpForce) {
        printf("Joint Torque Readings [N·m]:\n");
        for (int i = 0; i < NUMBER_OF_JOINT; ++i) {
            printf("J%d: %.3f\n", i + 1, lpForce->_fTorque[i]);
        }
    } else {
        fprintf(stderr, "Failed to retrieve torque data.\n");
    }

    return 0;
}

This example reads the current torque applied at each joint and prints the values in N·m, which are useful for monitoring joint load, detecting external disturbances, or validating force-control behavior.