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Get the force value along trajectory


I have just started programming robots and in particular I am programming a Staubli robot.
For my application I need to know if it is possible to get the force value, instant for instant, during the trajectory the robot is describing. I'm interested to know whether there is an internal command or something similar that allows me to have the forces value  that the robot uses during the trajectory in the three directions.

Thanking in advance,


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