## Get joint external torque

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benjamin
Posts: 8
Joined: 12 Feb 2015, 11:50

### Get joint external torque

Hello everyone,

for an application, I need to get the external torque (the torque resulting from external forces) as with the real Kuka LWR4. How is this achievable? I tried to add force sensors in the chain but apparently they can't be used just before of after a joint.

Thanks

Benjamin

coppelia