# Getting the motor torque of YUMI

**URL:** <https://tech-community.robotics.abb.com/t/getting-the-motor-torque-of-yumi/7568>\
**Category:** Collaborative Robots\
**Created:** [February 10, 2017, 7:19am UTC](https://tech-community.robotics.abb.com/t/getting-the-motor-torque-of-yumi/7568 "2017-02-10T07:19:59Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![Qh123](https://avatars.discourse-cdn.com/v4/letter/q/9dc877/32.png) [@Qh123](https://tech-community.robotics.abb.com/u/Qh123)\
**Post date:** [February 10, 2017, 7:19am UTC](https://tech-community.robotics.abb.com/t/getting-the-motor-torque-of-yumi/7568/1 "2017-02-10T07:19:59Z")

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Hi all,

I am recently using the YUMI robot. I have learned from a paper that we can get the motor torque of YUMI in real time and estimate the external force, but unfortunatelly there was no more details in that paper.

Anyone managed to do that or has succesfully done? Could you share me the demo to help me get the motor torque of YUMI?

Thanks a lot!

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**Author:** ![drm0hr](https://avatars.discourse-cdn.com/v4/letter/d/71e660/32.png) [@drm0hr](https://tech-community.robotics.abb.com/u/drm0hr)\
**Post date:** [May 2, 2017, 11:18am UTC](https://tech-community.robotics.abb.com/t/getting-the-motor-torque-of-yumi/7568/2 "2017-05-02T11:18:08Z")

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Just out of curiosity, what paper did you see this in?

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**Author:** ![kazoo](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/kazoo/32/598_2.png) [@kazoo](https://tech-community.robotics.abb.com/u/kazoo)\
**Post date:** [July 10, 2017, 9:58pm UTC](https://tech-community.robotics.abb.com/t/getting-the-motor-torque-of-yumi/7568/3 "2017-07-10T21:58:31Z")

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I found this, but not sure it really doesn’t use FT Sensor or not

[![](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/1/1b6efdd2f18524b825a7326bfe9259f7bab25489.jpeg "Constraint-based sensorless force control with dual arm ABB robot") ](https://www.youtube.com/watch?v=oMAMyCeFahM)

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**Author:** ![kazoo](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/kazoo/32/598_2.png) [@kazoo](https://tech-community.robotics.abb.com/u/kazoo)\
**Post date:** [July 10, 2017, 10:01pm UTC](https://tech-community.robotics.abb.com/t/getting-the-motor-torque-of-yumi/7568/4 "2017-07-10T22:01:21Z")

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Maybe this is the paper you are looking for.  
[https://www.researchgate.net/publication/290533655\_Constraint-Based\_and\_Sensorless\_Force\_Control\_with\_an\_Application\_to\_a\_Lightweight\_Dual-Arm\_Robot](https://www.researchgate.net/publication/290533655_Constraint-Based_and_Sensorless_Force_Control_with_an_Application_to_a_Lightweight_Dual-Arm_Robot)

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**Author:** ![MERYEM\_TAGH](https://avatars.discourse-cdn.com/v4/letter/m/bb73d2/32.png) [@MERYEM\_TAGH](https://tech-community.robotics.abb.com/u/MERYEM_TAGH)\
**Post date:** [September 7, 2018, 9:10am UTC](https://tech-community.robotics.abb.com/t/getting-the-motor-torque-of-yumi/7568/5 "2018-09-07T09:10:20Z")

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hi  
I work on Yumi robot, I can not recover the position and the torque of axis 7. I have try to do it with the function get motortorque but it available just for the 6 axes.  
did you get to do it?

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**Author:** ![Brian\_Li](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/brian_li/32/802_2.png) [@Brian\_Li](https://tech-community.robotics.abb.com/u/Brian_Li)\
**Post date:** [September 27, 2018, 1:18pm UTC](https://tech-community.robotics.abb.com/t/getting-the-motor-torque-of-yumi/7568/6 "2018-09-27T13:18:44Z")

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Hi MERYEM\_TAGH,  
You may try the below method for the right arm:  
torque := GetMotorTorque(\MecUnit := ROB\_R\_7,1); @MERYEM_TAGH