Posts by cookiecoco

  • Relationship between joint torque and current of KUKA robot

    Hi,

    I am using JOpenShowVar to read the torque $TORQUE_AXIS_ACT and current $CURR_ACT of KUKA KR3 R540.According to the read value, there is a linear relationship between the two, that is, T=kI, but some joints have k values greater than zero, and some joints have k values less than zero. I want to know what factors are related to the positive and negative values of k? Is it related to the internal parameters of the motor?

    Thanks!

  • KUKA KRC4 TORQUE AND CURRENT MONITORING

    Hi guys，

    I am using JOpenShowVar to read the torque $TORQUE_AXIS_ACT and current $CURR_ACT of KUKA KR3 R540. According to the data read out, it looks like there is a linear relationship between the two. I want to know that is it really a linear relationship? If so, what are the parameters related to this linear relationship? Is it related to certain parameters of the motor?

    Thanks!