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I think this is not possible with this robot

I'm not so sure ;)

When interfacing between a robot and ROS, it's very common for developers to write this code using the ros_control package. I'm guessing whatever package you're using to control the Kuka (probably something in ROS Industrial?) has done it this way. There are velocity controllers, position controllers, and others, all configured by a YAML file for the robot.

In ROS-lingo, we would call this an "effort controller". You can read more about this here and mostly on the ros_control documentation here and here.