Adding an external load to a robotic manipulator

General Questions
1

Hello,
I want to study the load that a human arm exerts on a robotic manipulator (UR5, in my particular case) during robotic rehabilitation of the upper limb.
How can I add that load at the extremity of the robot? And then, how can I calculate the load that is being exerted on each joint of the robot?

Thank you in advance,
Ricardo

2

You would need to do your own math for it. VC only does kinematics for robots and other motion, not any forces or dynamics calculations.

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