Get Actual Joint Voltage
SUMMARY
Get Actual Joint Voltage returns the actual drive voltage measured at each joint motor. The result is a 6-element list — one voltage per joint — in volts.
Use this skill to monitor individual joint drive health, detect voltage imbalances, or log power delivery across the arm.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
voltages = robot.get_actual_joint_voltage()The Code
Example: Read the Actual Joint Motor Voltages
Connect to the robot, read the joint motor voltages, 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)
voltages = robot.get_actual_joint_voltage()
logger.info(f"Joint voltages (V): {voltages}")
# Disconnect
robot.disconnect()The Explanation of the Code
get_actual_joint_voltage queries the RTDE receive interface for the measured motor drive voltages at each of the six joints. The result is a 6-element list [V1…V6] in volts. These values represent the actual voltage being applied to each joint's motor drive.
How to Tune the Parameters
This skill takes no parameters.
Return Value
| Type | Description |
|---|---|
list[float] | 6-element list [V1…V6] of actual joint motor drive voltages [V]. |
Where to Use the Skill
- Drive health monitoring — Check per-joint voltages for imbalance or under-voltage conditions
- Power analysis — Combine with Get Actual Joint Currents to estimate per-joint power consumption
When Not to Use the Skill
Do not use Get Actual Joint Voltage when:
- You need the total 48V rail voltage — use Get Actual Robot Voltage instead