Get the force value along trajectory

    Hi,
    I have just started programming robots and in particular I am programming a Staubli robot.
    For my application I need to know if it is possible to get the force value, instant for instant, during the trajectory the robot is describing. I'm interested to know whether there is an internal command or something similar that allows me to have the forces value that the robot uses during the trajectory in the three directions.


    Thanking in advance,
    Regards.

    Hi,
    You can do this with a function called "exernalForce" but the result will be really noisy and reliable only in static condition...you should invent some way to filter it.
    This function is not available in the standard val3 language but is parte of a free "addon"..contact the Staubli support for furhter informations!


    Ciao!

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