UR3 - Is there a way via URscript to get joint currents shown on the LOG tab of Polyscope?

aaronskidmore

I have been using get_joint_torques() to test how much force is being applied during bottle cap tightening on wrist3 but found it is inconsistent, and thought I could try testing amps instead, or maybe even test joint speed and catch the speed slowing down to indicate cap is tight. I dont want to invest in external torque sensor. If this cant be done I will probably look at mechanical clutch.

matthewd92

There is not a URScript function but you can create one.  The joint currents in mA are being broadcast on the modbus server.  You can use the read_port_register(port) function to read these registers so a simple function like this could be used.  YOu can find out more about the data on the modbus server here

def get_joint_currents():
  local port = 290
  local joint = 0
  local jointCurrents = [0,0,0,0,0,0]
  while (joint < 6):
    jointCurrents[joint] = read_port_register(port+joint) 
    joint = joint + 1
  end
  return jointCurrents
end

Then you can either access that directly or have a background thread placing that value into a global variable. I have tested the above by placing it into a thread and it works without issues

aaronskidmore

Good one, thanks for your help

matthewd92

You’re welcome