Can i use NI-7358 to implement a hybrid position force/torque control system?

Hello!
I have a manipulator with 5 joints. I will use the NI-7358 motion control card to control them. In my application i also want to implement a force control system by using a force/torque sensor.
Question:
Is it possible to use the NI-7358 to implement a force/torque control system? Can i use the analog input channel of the NI-7358 as the force feedback? How is the torque exactly controlled with this card? Do I need buy other hardware to realize the hybrid force/position control?
Thanks a lot!
WLAN

wlan wrote:
thank you Jochen, i have two ways to get the torque values for each axis: 1. by using a force-sensor on each axis. (direct, very precise) 2. by using the Jacobian of my manipulator structure to calculate the torques (indirect, not precise, maybe correction needed) do u mean i must use option "1" as feedback (hardware dependent)? (JK:
yes, that's the only option with the 7358. The other option will
require the use of another approch like LV RT or LV FPGA as discussed
before) how can i increase or reduce the torque when i use the force-feedback and the NI PCI-7358? (JK:
please refer to the document about analog feedback that I have attached
to my first answer. With analog feedback you can set torque values
exactly the same way as you set target positions).
still a question: the motors that i am using are: Motor: 3x Faulhaber 3564 024B DC-Servomotor 2x
Faulhaber 2036 012B DC-Servomotor Encoder: 1x HEDM 5500 B14 can i use the Faulhaber BLD 5606 http://www.faulhaber.de/zip_pdf/produkte/kat_2000/10_steuerungen/dBLD5603_06.pdf Motor Driver with the NI PCI-7358 together (with UMI)?
(JK:
The PDF doesn't contain a schematic of the pinout but telling from the
table this combination should work. Please make sure that you limit the
output voltage of the 7358 to +-5 V as this is the voltage input range
for the command input of the BLD 5606. This can be done in MAX)
Can u take a look? Thanks for your help! WLAN

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Can i use NI-7358 to implement a hybrid position force/torque control system?