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ROBOTIS-GIT / DynamixelSDK

ROBOTIS Dynamixel SDK (Protocol1.0/2.0)
http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/
Apache License 2.0
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Torque control using Dynamixel SDK python #259

Closed lenonrobot closed 5 years ago

lenonrobot commented 5 years ago

Thanks for your python code of DynamixelSDK. Is there any python code using the torque control mode of XM430-W350-R motors? What I really need is to (controller) output joint torques of a two-joint robot arm, rather than joint positions.

Some torque control by c++:

http://wiki.ros.org/dynamixel_controllers/Tutorials/Creating%20a%20dual%20joint%20torque

http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/#tutorials

thanks if anyone could help me out. thanks again.

kijongGil commented 5 years ago

Hi, xiaofeng :)

Unfortunately, there is no python code using torque control.

For getting joint torques, you have to use read2ByteTxRx and read present current of control table. refer to control table. and then calculate torque from present current as like dynamixel_workbench.

Thanks, Gilbert

lenonrobot commented 5 years ago

Gilbert, thanks for your quick reply. I will try what you suggested. I may let you know if there will be problems onto it. thanks again.

Best regards, xiaofeng

kijongGil commented 5 years ago

I hope your problem is solved. I'm going to close this issue. If you have an another problem, you can reopen it anytime. Thanks.

spadetoone commented 4 years ago

Gilbert, thanks for your quick reply. I will try what you suggested. I may let you know if there will be problems onto it. thanks again.

Best regards, xiaofeng

xiaofeng Do you have solve the problem that use python to torque control.

YechenZhou commented 1 year ago

Do you have solve the problem that use python to torque control?

Gilbert, thanks for your quick reply. I will try what you suggested. I may let you know if there will be problems onto it. thanks again. Best regards, xiaofeng

xiaofeng Do you have solve the problem that use python to torque control.

Do you have solve the problem that use python to torque control?

Gilbert, thanks for your quick reply. I will try what you suggested. I may let you know if there will be problems onto it. thanks again. Best regards, xiaofeng

xiaofeng Do you have solve the problem that use python to torque control.

Have you solved the problem that use python to torque control? @spadetoone @lenonrobot