[jrk_wrps]

Hello, 

I can see from the documentation that the robot drivers are able to get the current joint position of the robot arms. Is the robot driver (through Python/C#/etc API or the plug-in API) able to get the motor current and/or force being seen on the joints of the arm as well? 

The use case would be to use RoboDK as a bridge to a robot for real-time teleoperation with force-feedback using capable hardware (Haption 6D RV or 6D TAO, 3D Systems Touch/Touch X/Phantom). RoboDK would be used for a majority of programming for simple actions, with a "stop" point introduced to allow a human operator to conduct specific actions as the situation requires. The functionality for using a game controller with is already showcased in a plug-in, and both of those companies (Haption, 3D Systems) have SDK's available - the main thing would be to be able to hook in some kind of force value. 

I am sure the information available differs between manufacturers - I know that UR presents motor current, but it is not clear from the RoboDK documentation if that is an available parameter and/or if Fanuc (or other manufacturers with cobots) make that information available.

[Albert]

Yes, it is possible to get the current joint position of the robot arms. However, our drivers are not designed to get joint currents or force. We could implement it on a case by case basis. In this case it is better if you contact us through our contact form:
https://robodk.com/contact

Real-time teleoperation requires dedicated drivers and, most of the times, special options enabled on the robot controller (usually paid options). Most of our drivers can deal with a 20Hz frequency (joint monitoring and move commands for example). However, you may need more like 500-1000 Hz for such real-time operations.

[jrk_wrps]

Yes, it is possible to get the current joint position of the robot arms. However, our drivers are not designed to get joint currents or force. We could implement it on a case by case basis. In this case it is better if you contact us through our contact form:
https://robodk.com/contact

Real-time teleoperation requires dedicated drivers and, most of the times, special options enabled on the robot controller (usually paid options). Most of our drivers can deal with a 20Hz frequency (joint monitoring and move commands for example). However, you may need more like 500-1000 Hz for such real-time operations.

While a custom implementation wouldn't be out of the question, I am curious about one or two other things before reaching out via the contact form. 

If force-feedback is not a requirement, it seems like the Game Controller or Robot Pilot plug-ins could also work for our purposes. Are there any limitations, such as the 20Hz monitoring/command instruction rate, that would hinder use with real-time teleoperation? Is it possible to increase the frequency used from 20Hz to 500-1000Hz only for periods of time where teleoperation is desired, then revert back to 20Hz for the rest of a program?

[Albert]

It requires a custom implementation if you want to go over 20 Hz which would depend on the robot controller.