UR10e Force and Torque values

After launching everything (arm & gripper) as explained in some previous posts, I discover the following, regarding the UR10e force/torque values.


rostopic echo /joint_states

 

header:
  seq: 482730
  stamp:
    secs: 1651760184
    nsecs: 917628129
  frame_id: ''
name:
  - elbow_joint
  - shoulder_lift_joint
  - shoulder_pan_joint
  - wrist_1_joint
  - wrist_2_joint
  - wrist_3_joint
position: [1.2160757223712366, -1.154092625980713, -0.11001712480653936, -1.7416936359801234, -1.702087704335348, -0.9789927641498011]
velocity: [-0.0, -0.0, 0.0, 0.0, 0.0, 0.0]
effort: [-4.225266456604004, -6.093687534332275, 0.31768253445625305, -0.5379326343536377, -0.15823310613632202, 0.06207980215549469]


 
We can see on the documentation the following:
 
# This is a message that holds data to describe the state of a set of torque controlled joints. 
#
# The state of each joint (revolute or prismatic) is defined by:
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s) and 
#  * the effort that is applied in the joint (Nm or N)
 
Note:
  • These 'effort' values respond to my disturbances
  • We cannot exceed the safety force limit (see this). For UR10e:


 Joint TORQUE


Wrist 3 56 Nm


Wrist 2 56 Nm


Wrist 1 56 Nm


Elbow 150 Nm


Shoulder 330 Nm


Base 330 Nm
 
 
 

rostopic echo /wrench

 
                 Gripper Closed                                                                                                           Gripper holding wood-block
 

Wood-Block mass: 235.8 g = 0.2358 Kg

9.82 x 0.2358 = 2.315 N
 

Accordingly to the UR10e User Manual (page I-74 or 88/209):
 
Force Torque Sensor Accuracy: 5.5 N
 


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