Get Actual Current as Torque
SUMMARY
Get Actual Current as Torque returns 6-element joint torque estimates derived from the measured motor currents by applying the motor torque constants. This provides a current-based torque estimate without a dedicated torque sensor.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
torques = robot.get_actual_current_as_torque()The Code
Example: Read Current-Based Torque Estimates
Connect to the robot, read the torque estimates, and log them.
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
torques = robot.get_actual_current_as_torque()
logger.info(f"Current-as-torque (Nm): {torques}")
# Disconnect
robot.disconnect()The Explanation of the Code
get_actual_current_as_torque returns the actual measured motor currents after conversion to torque estimates using the per-joint motor torque constants. The result is a 6-element list [τ1…τ6] in Newton-metres [Nm]. This is a lower-fidelity torque estimate compared to strain-gauge-based measurements and does not compensate for friction or gravity.
How to Tune the Parameters
This skill takes no parameters.
Return Value
| Type | Description |
|---|---|
list[float] | 6-element list [τ1…τ6] of current-derived joint torque estimates [Nm]. |
Where to Use the Skill
- Load monitoring — Estimate joint loading during pick-and-place or assembly without a dedicated torque sensor
- Motor health diagnostics — Detect unexpected current draws that may indicate mechanical binding
When Not to Use the Skill
Do not use Get Actual Current as Torque when:
- High-accuracy torque feedback is required — use Get Actual TCP Force or a dedicated torque sensor instead
- You need the controller's commanded torques — use Get Target Joint Moments instead