how to get joint torque values in N.m

asked 2018-10-29 00:36:10 -0600

Durath gravatar image

updated 2018-10-31 17:55:08 -0600

Hi all,

I am trying to get the current torque/effort values of my revolute joints. I have a JointPtr j1 and I have seen that the method GetForce() it just returns the recent applied force. What I want are the joint efforts. I have seen that I can use the method j1->GetForceTorque() which returns a JointWrench. However, I don't know how to convert the force and torque vectors of the parent and child links of joint j1 to values in N.m (Newtons per meter).

Edit:

Let's say I want to know the current effort value of joint j1. The parent and child links of joint j1 are parent_j1 and child_j1 respectively.

The force and torque vectors of parent_j1 are F=(fx1,fy1,fz1) and T=(tx1,ty1,tz1) respectively.

The force and torque vectors of children_j1 are F=(fx2,fy2,fz2) and T=(tx2,ty2,tz2) respectively.

In robotics this is called the wrench of a joint. Then, how can I get: Effort/Torque(j1) = .... N.m.

Please any help would be appreciated.

Best regards,

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