Hi guys,
I'm wondering about the external torque for each joint of the robot.
Let's say the LBR IIWA 14kg is in a specific configuration.
There are two ways to get them:
- Method 1: Watch the Torque Part on the Pad. There is a column for the external torque in which you can choose a tool and a frame.
- Method 2: DataRecorder with the following method: rec.addExternalJointTorque()
However, the second method doesn't seem to depend on a frame.
What is the difference between the two methods?
Thanks in advance,
O.R