Hello everyone,
Recently, I got an opportunity to work on Yaskawa GP12 robot and we are collecting it's torque, Current and position data from the controller using Data Acquisition Device. Now I am trying to implement a simulation for it and try to predict the torque and current behavior of the robot. But out simulated and controller data are not matching at all as till now I was only considering physics of robots and using its equation to calculate the toques. So what I would like to know is the data I am getting from controller is it the motor torque or its the torque applied on a link ? What kind of torque am I getting here?
Thank you.