How to configure allowable maximum joint torque

Kinovarobotics / kortex

Code examples and API documentation for KINOVA® KORTEX™ robotic arms

https://www.kinovarobotics.com/

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How to configure allowable maximum joint torque #182

Open luorui93 opened 10 months ago

luorui93 commented 10 months ago

Currently, when something went wrong, the robot would hit too hard before triggering a fault. So I'm trying to reduce the maximum allowable joint torque. Currently I can check each joint's maximum torque in the Web App but they are only viewable. I cannot find anywhere in the documentation on changing this. Is it possible to edit this safety item?

felixmaisonneuve commented 9 months ago

Hi @luorui93,

Sorry for the delay.

It is not possible to configure safeties on the Gen3 arm.

The best you could do is monitor actuators torque and call ApplyEmergencyStop if it is too high.

Regards Felix