How much is the maximum control frequency when using c++-SDK

[SHKim-HYU]

Hi I'm looking for the torque-controllable robotic arm and, as i look around the repositories, xArm series seem to support the torque control(using "set_servot" function). So, I wonder how much the maximum frequency of the control loop is when using the SDK. As far as i search, Lite 6 support upto 200Hz, but the case of xArm cannot be found. Thanks

[vimior]

@tjsghd101 This control method is not open by default, so this interface is only useful under certain firmware.

[SHKim-HYU]

@vimior Thanks for reply, I just plan to use xarm6 for research purpose so i hope to use that functions. Is there any possible way for opening the current control method? or could you let me know when it will be updated in public?

[MinnaZhong]

Hi @SHKim-HYU ,

Sorry, there is no torque control. Our joint doesn't have torque sensor itself, we do provide some customers with estimated joint torque or TCP force, but you should know it is very rough and unreliable, they are only used for arm protection and not control, and they always add another F/T sensor to control.

What is your application to use force control?

Best regards, Minna