TL;DR : Can I control a servo's torque by PWM'ing a PWM ?
I'm thinking about buying a dynamixel AX18 and I would like to be control it's output torque.
If I modulate the input command, I expect the torque to be linear to the duty cycle. But I don't know if this would work on a servo, as the gears and it's internal controller might get in the way.
I would like to make a closed loop with a force sensor, in order to control the torque. I would have to identify the parameters of the servo to get the Kt gain.
Is this solution plausible or am I missing something?