Force/Torque control for Dobot Magician

#1

As per my knowledge dobot is position controlled in both Cartesian and Joint angle frame of reference. Also I can only take discrete steps in both coordinate frames with the given api. I want force control(compliance control) for the robotic arm. Is it possible to do so?

#2

I’ve mounter amperometer between power supply and dobot, so it’s kind of workaround. Another option may be custom end-effector that measure force directly.