Joint Torque

Joint torque is the rotational force applied by a motor at a robot joint, measured in Newton-meters (Nm). Torque-controlled robots (as opposed to position-controlled ones) can regulate contact forces directly, enabling compliant behaviors such as yielding when pushed and precisely controlling assembly forces. Torque sensing at each joint is a key feature of collaborative robots (cobots) like the Franka Panda, Universal Robots UR series, and Kuka iiwa, enabling safe human-robot collaboration and whole-body compliant control. Learning policies that output joint torques rather than positions require careful training to avoid unstable oscillations.