Unlock low-level force control with Universal Robots Direct Torque Control.

Researchers and developers can face limitations when using traditional position or velocity control for tasks that require precise force regulation and compliance—such as assembly, insertion, or human-robot interaction. These methods lack the adaptability for effective performance in dynamic environments.

Key benefits for researchers and developers

• Custom Control Algorithms:
  Unlock new possibilities in robotics research by implementing your own control strategies – impedance, force, and more – using Direct Torque, Servo, or Speed control via UR Script.
• Advanced Dynamics Access:
  Retrieve Mass Matrix, Coriolis and Centrifugal forces, Jacobians, and other essential robot parameters directly through UR Script for high-fidelity modeling and control.
• Gravity Compensation:
  Built in gravity force and TCP payload compensation simplifies using Direct Torque Control by enabling users to focus entirely on torque needed for motion.
• Sim-to-Real Made Efficient:
  Bridge the gap between simulation and hardware with direct access to low-level control and robot dynamics, accelerating deployment of AI and reinforcement learning solutions.
• Open Development Platform:
  Integrate seamlessly with UR’s ROS 2 driver, enabling collaborative development and rapid prototyping in academic and industrial research environments.
• Reliable Hardware – for Research & Industrial Deployment:
  Depend on Universal Robots’ robust, lightweight collaborative-industrial robots—trusted in both research labs and industrial deployments. Develop on equipment designed for industrial deployment, ensuring your innovations are ready for scale.

How to get Direct Torque Control?​​

Direct Torque Control is standard feature in PolyScope and can be accessed through UR Script, as documented in the UR Script Directory:

Direct_Torque command PolyScope X 10.11

Direct_Torque command PolyScope 5.24

As an advanced low-level control function, Direct Torque Control bypasses several compliance features and should be used with care. Users are responsible for keeping the robot within safety limits.