12. Force control
12.1. Force sensor configuration
1/**
2* @brief force sensor configuration
3* @param [in] company force sensor manufacturer, 17-Kunwei Technology, 19-Aerospace 11th Institute, 20-ATI Sensor, 21-Zhongke Midian, 22-Weihang Minxin, 23-NBIT, 24-Xinjingcheng (XJC), 26-NSR
4* @param [in] device device number, Kunwei (0-KWR75B), Aerospace 11th Institute (0-MCS6A-200-4), ATI (0-AXIA80-M8), Zhongke Midian (0-MST2010), Weihang Minxin (0-WHC6L-YB-10A), NBIT (0-XLH93003ACS), Xinjingcheng XJC (0-XJC-6F-D82), NSR (0-NSR-FTSensorA)
5* @param [in] softvesion Software version number, not used yet, default is 0
6* @param [in] bus device is hung at the end bus position, not used yet, default is 0
7* @return error code
8*/
9errno_t FT_SetConfig(int company, int device, int softvesion, int bus);
12.2. Get the force sensor configuration
1/**
2* @brief Get the force sensor configuration
3* @param [in] company Force sensor manufacturer, to be determined
4* @param [in] device Device number, not used yet. The default value is 0
5* @param [in] softvesion Software version. The value is not used. The default value is 0
6* @param [in] bus The device is attached to the terminal bus and is not in use. The default value is 0
7* @return Error code
8*/
9errno_t FT_GetConfig(int *company, int *device, int *softvesion, int *bus);
12.3. Force Sensor Activation
1/**
2* @brief Force sensor activation
3* @param [in] act 0- reset, 1- activate
4* @return Error code
5*/
6errno_t FT_Activate(uint8_t act);
12.4. Force sensor calibration
1/**
2* @brief Force sensor calibration
3* @param [in] act 0- zero removal, 1- zero correction
4* @return Error code
5*/
6errno_t FT_SetZero(uint8_t act);
12.5. Set Force Sensor Reference Coordinate System
1/**
2* @brief Set force sensor reference coordinate system
3* @param [in] ref 0-Tool coordinate system, 1-Base coordinate system
4* @return Error code
5*/
6errno_t FT_SetRCS(uint8_t ref);
12.6. Set Payload Weight Under Force Sensor
New in version C++SDK-v2.1.5.0.
1/**
2 * @brief Set payload weight under force sensor
3 * @param [in] weight Payload weight in kg
4 * @return Error code
5 */
6errno_t SetForceSensorPayload(double weight);
12.7. Set Payload Center of Gravity Under Force Sensor
New in version C++SDK-v2.1.5.0.
1/**
2 * @brief Set payload center of gravity under force sensor
3 * @param [in] x Payload COG x in mm
4 * @param [in] y Payload COG y in mm
5 * @param [in] z Payload COG z in mm
6 * @return Error code
7 */
8errno_t SetForceSensorPayloadCog(double x, double y, double z);
12.8. Get Payload Weight Under Force Sensor
New in version C++SDK-v2.1.5.0.
1/**
2 * @brief Get payload weight under force sensor
3 * @param [in] weight Payload weight in kg
4 * @return Error code
5 */
6errno_t GetForceSensorPayload(double& weight);
12.9. Get Payload Center of Gravity Under Force Sensor
New in version C++SDK-v2.1.5.0.
1/**
2 * @brief Get payload center of gravity under force sensor
3 * @param [out] x Payload COG x in mm
4 * @param [out] y Payload COG y in mm
5 * @param [out] z Payload COG z in mm
6 * @return Error code
7 */
8errno_t GetForceSensorPayloadCog(double& x, double& y, double& z);
12.10. Force Sensor Auto Zero Calibration
New in version C++SDK-v2.1.5.0.
1/**
2 * @brief Force sensor auto zero calibration
3 * @param [out] weight Sensor mass in kg
4 * @param [out] pos Sensor COG in mm
5 * @return Error code
6 */
7errno_t ForceSensorAutoComputeLoad(double& weight, DescTran& pos);
12.11. Get Force/Torque Data in Reference Coordinate System
1/**
2* @brief Get force/torque data in reference coordinate system
3* @param [out] ft Force/torque, fx, fy, fz, tx, ty, tz
4* @return Error code
5*/
6errno_t FT_GetForceTorqueRCS(ForceTorque *ft);
12.12. Get Raw Force/Torque Data from Force Sensor
1/**
2* @brief Get raw force/torque data from force sensor
3* @param [out] ft Force/torque, fx, fy, fz, tx, ty, tz
4* @return Error code
5*/
6errno_t FT_GetForceTorqueOrigin(ForceTorque *ft);
12.13. Force Sensor Configuration and Auto Zero Calibration Code Example
1int TestFTInit(void)
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 int company = 24;
14 int device = 0;
15 int softversion = 0;
16 int bus = 1;
17 int index = 1;
18 robot.FT_SetConfig(company, device, softversion, bus);
19 robot.Sleep(1000);
20 robot.FT_GetConfig(&company, &device, &softversion, &bus);
21 printf("FT config:%d,%d,%d,%d\n", company, device, softversion, bus);
22 robot.Sleep(1000);
23 robot.FT_Activate(0);
24 robot.Sleep(1000);
25 robot.FT_Activate(1);
26 robot.Sleep(1000);
27 robot.Sleep(1000);
28 robot.FT_SetZero(0);
29 robot.Sleep(1000);
30 ForceTorque ft;
31 memset(&ft, 0, sizeof(ForceTorque));
32 robot.FT_GetForceTorqueOrigin(0, &ft);
33 printf("ft origin:%f,%f,%f,%f,%f,%f\n", ft.fx, ft.fy, ft.fz, ft.tx, ft.ty, ft.tz);
34 robot.FT_SetZero(1);
35 robot.Sleep(1000);
36 DescPose ftCoord = {};
37 robot.FT_SetRCS(0, ftCoord);
38 robot.SetForceSensorPayload(0.824);
39 robot.SetForceSensorPayloadCog(0.778, 2.554, 48.765);
40 double weight = 0;
41 double x = 0, y = 0, z = 0;
42 robot.GetForceSensorPayload(weight);
43 robot.GetForceSensorPayloadCog(x, y, z);
44 printf("the FT load is %lf, %lf %lf %lf\n", weight, x, y, z);
45 robot.SetForceSensorPayload(0);
46 robot.SetForceSensorPayloadCog(0, 0, 0);
47 double computeWeight = 0;
48 DescTran tran = {};
49 robot.ForceSensorAutoComputeLoad(weight, tran);
50 cout << "the result is weight " << weight << " pos is " << tran.x << " " << tran.y << " " << tran.z << endl;
51 robot.CloseRPC();
52 return 0;
53}
12.14. Payload Weight Identification Record
1/**
2* @brief Payload weight identification record
3* @param [in] id Sensor coordinate system number, range [1~14]
4* @return Error code
5*/
6errno_t FT_PdIdenRecord(int id);
12.15. Payload Weight Identification Calculation
1/**
2* @brief Payload weight identification calculation
3* @param [out] weight Payload weight in kg
4* @return Error code
5*/
6errno_t FT_PdIdenCompute(float *weight);
12.16. Payload COG Identification Record
1/**
2* @brief Payload COG identification record
3* @param [in] id Sensor coordinate system number, range [1~14]
4* @param [in] index Point number, range [1~3]
5* @return Error code
6*/
7errno_t FT_PdCogIdenRecord(int id, int index);
12.17. Payload COG Identification Calculation
1/**
2* @brief Payload COG identification calculation
3* @param [out] cog Payload COG in mm
4* @return Error code
5*/
6errno_t FT_PdCogIdenCompute(DescTran *cog);
12.18. Force Sensor Payload Identification Code Example
1int TestFTLoadCompute(void)
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 int company = 24;
14 int device = 0;
15 int softversion = 0;
16 int bus = 1;
17 int index = 1;
18 robot.FT_SetConfig(company, device, softversion, bus);
19 robot.Sleep(1000);
20 robot.FT_GetConfig(&company, &device, &softversion, &bus);
21 printf("FT config:%d,%d,%d,%d\n", company, device, softversion, bus);
22 robot.Sleep(1000);
23 robot.FT_Activate(0);
24 robot.Sleep(1000);
25 robot.FT_Activate(1);
26 robot.Sleep(1000);
27 robot.Sleep(1000);
28 robot.FT_SetZero(0);
29 robot.Sleep(1000);
30 ForceTorque ft;
31 memset(&ft, 0, sizeof(ForceTorque));
32 robot.FT_GetForceTorqueOrigin(0, &ft);
33 printf("ft origin:%f,%f,%f,%f,%f,%f\n", ft.fx, ft.fy, ft.fz, ft.tx, ft.ty, ft.tz);
34 robot.FT_SetZero(1);
35 robot.Sleep(1000);
36 DescPose tcoord = {};
37 tcoord.tran.z = 35.0;
38 robot.SetToolCoord(10, &tcoord, 1, 0, 0, 0);
39 robot.FT_PdIdenRecord(10);
40 robot.Sleep(1000);
41 float weight = 0.0;
42 robot.FT_PdIdenCompute(&weight);
43 printf("payload weight:%f\n", weight);
44 DescPose desc_p1(-419.524, -13.000, 351.569, -178.118, 0.314, 3.833);
45 DescPose desc_p2(-321.222, 185.189, 335.520, -179.030, -1.284, -29.869);
46 DescPose desc_p3(-327.622, 402.230, 320.402, -178.067, 2.127, -46.207);
47 robot.MoveCart(&desc_p1, 0, 0, 100.0, 100.0, 100.0, -1.0, -1);
48 robot.Sleep(1000);
49 robot.FT_PdCogIdenRecord(10, 1);
50 robot.MoveCart(&desc_p2, 0, 0, 100.0, 100.0, 100.0, -1.0, -1);
51 robot.Sleep(1000);
52 robot.FT_PdCogIdenRecord(10, 2);
53 robot.MoveCart(&desc_p3, 0, 0, 100.0, 100.0, 100.0, -1.0, -1);
54 robot.Sleep(1000);
55 robot.FT_PdCogIdenRecord(10, 3);
56 robot.Sleep(1000);
57 DescTran cog;
58 memset(&cog, 0, sizeof(DescTran));
59 robot.FT_PdCogIdenCompute(&cog);
60 printf("cog:%f,%f,%f\n", cog.x, cog.y, cog.z);
61 robot.CloseRPC();
62 return 0;
63}
12.19. Collision Guard
1/**
2* @brief Collision guard
3* @param [in] flag 0-Turn off collision guard, 1-Turn on collision guard
4* @param [in] sensor_id Force sensor number
5* @param [in] select Select whether to detect collision in six degrees of freedom, 0-Do not detect, 1-Detect
6* @param [in] ft Collision force/torque, fx, fy, fz, tx, ty, tz
7* @param [in] max_threshold Maximum threshold
8* @param [in] min_threshold Minimum threshold
9* @note Force/torque detection range: (ft-min_threshold, ft+max_threshold)
10* @return Error code
11*/
12errno_t FT_Guard(uint8_t flag, int sensor_id, uint8_t select[6], ForceTorque *ft, float max_threshold[6], float min_threshold[6]);
12.20. Collision Guard Code Example
1int TestFTGuard(void)
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 int company = 24;
14 int device = 0;
15 int softversion = 0;
16 int bus = 1;
17 int index = 1;
18 robot.FT_SetConfig(company, device, softversion, bus);
19 robot.Sleep(1000);
20 robot.FT_GetConfig(&company, &device, &softversion, &bus);
21 printf("FT config:%d,%d,%d,%d\n", company, device, softversion, bus);
22 robot.Sleep(1000);
23 robot.FT_Activate(0);
24 robot.Sleep(1000);
25 robot.FT_Activate(1);
26 robot.Sleep(1000);
27 robot.Sleep(1000);
28 robot.FT_SetZero(0);
29 robot.Sleep(1000);
30 uint8_t sensor_id = 1;
31 uint8_t select[6] = { 1,1,1,1,1,1 };
32 float max_threshold[6] = { 10.0,10.0,10.0,10.0,10.0,10.0 };
33 float min_threshold[6] = { 5.0,5.0,5.0,5.0,5.0,5.0 };
34 ForceTorque ft;
35 DescPose desc_p1(-419.524, -13.000, 351.569, -178.118, 0.314, 3.833);
36 DescPose desc_p2(-321.222, 185.189, 335.520, -179.030, -1.284, -29.869);
37 DescPose desc_p3(-327.622, 402.230, 320.402, -178.067, 2.127, -46.207);
38 robot.FT_Guard(1, sensor_id, select, &ft, max_threshold, min_threshold);
39 robot.MoveCart(&desc_p1, 0, 0, 100.0, 100.0, 100.0, -1.0, -1);
40 robot.MoveCart(&desc_p2, 0, 0, 100.0, 100.0, 100.0, -1.0, -1);
41 robot.MoveCart(&desc_p3, 0, 0, 100.0, 100.0, 100.0, -1.0, -1);
42 robot.FT_Guard(0, sensor_id, select, &ft, max_threshold, min_threshold);
43 robot.CloseRPC();
44 return 0;
45}
12.21. Constant force control
1/**
2* @brief Constant Force Control
3* @param [in] flag 0-disable constant force control, 1-enable constant force control
4* @param [in] sensor_id Force sensor ID
5* @param [in] select Select whether to detect collisions in six degrees of freedom, 0-disable detection, 1-enable detection
6* @param [in] ft Collision force/torque: fx, fy, fz, tx, ty, tz
7* @param [in] ft_pid Force PID parameters, torque PID parameters
8* @param [in] adj_sign Adaptive start/stop control, 0-disable, 1-enable
9* @param [in] ILC_sign ILC start/stop control, 0-stop, 1-training, 2-practical operation
10* @param [in] max_dis Maximum adjustment distance, unit: mm
11* @param [in] max_ang Maximum adjustment angle, unit: deg
12* @param [in] M Mass parameter for rx, ry [0.1-10], default 2
13* @param [in] B Damping parameter for rx, ry [0.1-50], default 8
14* @param [in] threshold Activation threshold for rx, ry [0-10], default 0.2
15* @param [in] adjustCoeff Torque adjustment coefficient for rx, ry [0-1], default 1
16* @param [in] polishRadio Polishing radius, unit: mm
17* @param [in] filter_Sign Filter enable flag 0-off; 1-on, default off
18* @param [in] posAdapt_sign Posture compliance enable flag 0-off; 1-on, default off
19* @param [in] isNoBlock Blocking flag, 0-blocking; 1-non-blocking
20* @return Error code
21*/
22errno_t FT_Control(uint8_t flag, int sensor_id, uint8_t select[6], ForceTorque* ft, float ft_pid[6], uint8_t adj_sign,
23uint8_t ILC_sign, float max_dis, float max_ang, double M[2], double B[2], double threshold[2], double adjustCoeff[2], double polishRadio = 0.0, int filter_Sign = 0, int posAdapt_sign = 0, int isNoBlock = 0);
12.22. Example of constant force control code with damping
1int TestFTControlWithAdjustCoeff(void)
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 uint8_t sensor_id = 10;
14 uint8_t select[6] = { 0,0,1,0,0,0 };
15 float ft_pid[6] = { 0.0008, 0.0, 0.0, 0.0, 0.0, 0.0 };
16 uint8_t adj_sign = 0;
17 uint8_t ILC_sign = 0;
18 float max_dis = 1000.0;
19 float max_ang = 20;
20 ForceTorque ft = {0.0};
21 ExaxisPos epos(0, 0, 0, 0);
22 JointPos j1(80.765, -98.795, 106.548, -97.734, -89.999, 94.842);
23 JointPos j2(43.067, -84.429, 92.620, -98.175, -90.011, 57.144);
24 DescPose desc_p1(5.009, -547.463, 262.053, -179.999, -0.019, 75.923);
25 DescPose desc_p2(-347.966, -547.463, 262.048, -180.000, -0.019, 75.923);
26 DescPose offset_pos(0, 0, 0, 0, 0, 0);
27 double M[2] = { 2.0, 2.0 };
28 double B[2] = { 15.0, 15.0 };
29 double threshold[2] = {1.0, 1.0};
30 double adjustCoeff[2] = {1.0, 0.8};
31 double polishRadio = 0.0;
32 int filter_Sign = 0;
33 int posAdapt_sign = 1;
34 int isNoBlock;
35 ft.fz = -10.0;
36 while(true)
37 {
38 rtn = robot.FT_Control(1, sensor_id, select, &ft, ft_pid, adj_sign, ILC_sign, max_dis, max_ang, M, B, threshold, adjustCoeff, 0, 0, 1, 0);
39 printf("FT_Control start rtn is %d\n", rtn);
40 robot.MoveL(&j1, &desc_p1, 1, 0, 100, 100, 100, -1, 0, &epos, 0, 0, &offset_pos, 200.0, 0);
41 robot.MoveL(&j2, &desc_p2, 1, 0, 100, 100, 100, -1, 0, &epos, 0, 0, &offset_pos, 200.0, 0);
42 rtn = robot.FT_Control(0, sensor_id, select, &ft, ft_pid, adj_sign, ILC_sign, max_dis, max_ang, M, B, threshold, adjustCoeff, 0, 0, 1, 0);
43 printf("FT_Control end rtn is %d\n", rtn);
44 }
45 robot.CloseRPC();
46 return 0;
47}
12.23. Spiral Search
1/**
2* @brief Spiral search
3* @param [in] rcs Reference coordinate system, 0-Tool coordinate system, 1-Base coordinate system
4* @param [in] dr Radius feed per circle
5* @param [in] ft Force/torque threshold, fx, fy, fz, tx, ty, tz, range [0~100]
6* @param [in] max_t_ms Maximum search time in ms
7* @param [in] max_vel Maximum linear velocity in mm/s
8* @return Error code
9*/
10errno_t FT_SpiralSearch(int rcs, float dr, float ft, float max_t_ms, float max_vel);
12.24. Rotary Insertion
1/**
2* @brief Rotary insertion
3* @param [in] rcs Reference coordinate system, 0-Tool coordinate system, 1-Base coordinate system
4* @param [in] angVelRot Rotational angular velocity in deg/s
5* @param [in] ft Force/torque threshold, fx, fy, fz, tx, ty, tz, range [0~100]
6* @param [in] max_angle Maximum rotation angle in deg
7* @param [in] orn Force/torque direction, 1-Along z-axis, 2-Around z-axis
8* @param [in] max_angAcc Maximum rotational acceleration in deg/s^2, not currently used, default is 0
9* @param [in] rotorn Rotation direction, 1-Clockwise, 2-Counterclockwise
10* @param [in] strategy Processing strategy for undetected force/torque, 0-Error; 1-Warning, continue motion
11* @return Error code
12*/
13errno_t FT_RotInsertion(int rcs, float angVelRot, float ft, float max_angle, uint8_t orn, float max_angAcc, uint8_t rotorn, int strategy = 0);
12.25. Example code for force sensor rotation insertion
1int TestMove(void)
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 JointPos j1(-11.904, -99.669, 117.473, -108.616, -91.726, 74.256);
14 JointPos j2(-45.615, -106.172, 124.296, -107.151, -91.282, 74.255);
15 JointPos j3(-29.777, -84.536, 109.275, -114.075, -86.655, 74.257);
16 JointPos j4(-31.154, -95.317, 94.276, -88.079, -89.740, 74.256);
17 DescPose desc_pos1(-419.524, -13.000, 351.569, -178.118, 0.314, 3.833);
18 DescPose desc_pos2(-321.222, 185.189, 335.520, -179.030, -1.284, -29.869);
19 DescPose desc_pos3(-487.434, 154.362, 308.576, 176.600, 0.268, -14.061);
20 DescPose desc_pos4(-443.165, 147.881, 480.951, 179.511, -0.775, -15.409);
21 DescPose offset_pos(0, 0, 0, 0, 0, 0);
22 ExaxisPos epos(0, 0, 0, 0);
23 int tool = 0;
24 int user = 0;
25 float vel = 100.0;
26 float acc = 100.0;
27 float ovl = 100.0;
28 float oacc = 100.0;
29 float blendT = 0.0;
30 float blendR = 0.0;
31 uint8_t flag = 0;
32 uint8_t search = 0;
33 int blendMode = 0;
34 int velAccMode = 0;
35 robot.SetSpeed(20);
36 rtn = robot.MoveJ(&j1, &desc_pos1, tool, user, vel, acc, ovl, &epos, blendT, flag, &offset_pos);
37 printf("movej errcode:%d\n", rtn);
38 rtn = robot.MoveL(&j2, &desc_pos2, tool, user, vel, acc, ovl, blendR, blendMode, &epos, search, flag, &offset_pos, oacc, velAccMode);
39 printf("movel errcode:%d\n", rtn);
40 rtn = robot.MoveC(&j3, &desc_pos3, tool, user, vel, acc, &epos, flag, &offset_pos, &j4, &desc_pos4, tool, user, vel, acc, &epos, flag, &offset_pos, ovl, blendR, oacc, velAccMode);
41 printf("movec errcode:%d\n", rtn);
42 rtn = robot.MoveJ(&j2, &desc_pos2, tool, user, vel, acc, ovl, &epos, blendT, flag, &offset_pos);
43 printf("movej errcode:%d\n", rtn);
44 rtn = robot.Circle(&j3, &desc_pos3, tool, user, vel, acc, &epos, &j1, &desc_pos1, tool, user, vel, acc, &epos, ovl, flag, &offset_pos, oacc, -1, velAccMode);
45 printf("circle errcode:%d\n", rtn);
46 rtn = robot.MoveCart(&desc_pos4, tool, user, vel, acc, ovl, blendT, -1);
47 printf("MoveCart errcode:%d\n", rtn);
48 rtn = robot.MoveJ(&j1, tool, user, vel, acc, ovl, &epos, blendT, flag, &offset_pos);
49 printf("movej errcode:%d\n", rtn);
50 rtn = robot.MoveL(&desc_pos2, tool, user, vel, acc, ovl, blendR, blendMode, &epos, search, flag, &offset_pos, -1, velAccMode);
51 printf("movel errcode:%d\n", rtn);
52 rtn = robot.MoveC(&desc_pos3, tool, user, vel, acc, &epos, flag, &offset_pos, &desc_pos4, tool, user, vel, acc, &epos, flag, &offset_pos, ovl, blendR, -1, velAccMode);
53 printf("movec errcode:%d\n", rtn);
54 rtn = robot.MoveJ(&j2, tool, user, vel, acc, ovl, &epos, blendT, flag, &offset_pos);
55 printf("movej errcode:%d\n", rtn);
56 rtn = robot.Circle(&desc_pos3, tool, user, vel, acc, &epos, &desc_pos1, tool, user, vel, acc, &epos, ovl, flag, &offset_pos, oacc, blendR, -1, velAccMode);
57 printf("circle errcode:%d\n", rtn);
58 robot.CloseRPC();
59 return 0;
60}
12.26. Linear Insertion
1/**
2* @brief Linear insertion
3* @param [in] rcs Reference coordinate system, 0-Tool coordinate system, 1-Base coordinate system
4* @param [in] ft Force/torque threshold, fx, fy, fz, tx, ty, tz, range [0~100]
5* @param [in] lin_v Linear velocity in mm/s
6* @param [in] lin_a Linear acceleration in mm/s^2, not currently used
7* @param [in] max_dis Maximum insertion distance in mm
8* @param [in] linorn Insertion direction, 0-Negative direction, 1-Positive direction
9* @return Error code
10*/
11errno_t FT_LinInsertion(int rcs, float ft, float lin_v, float lin_a, float max_dis, uint8_t linorn);
12.27. Spiral Search, Linear Insertion and Other Instruction Code Examples
1int TestFTSearch(void)
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 int company = 24;
14 int device = 0;
15 int softversion = 0;
16 int bus = 1;
17 int index = 1;
18 robot.FT_SetConfig(company, device, softversion, bus);
19 robot.Sleep(1000);
20 robot.FT_GetConfig(&company, &device, &softversion, &bus);
21 printf("FT config:%d,%d,%d,%d\n", company, device, softversion, bus);
22 robot.Sleep(1000);
23 robot.FT_Activate(0);
24 robot.Sleep(1000);
25 robot.FT_Activate(1);
26 robot.Sleep(1000);
27 robot.Sleep(1000);
28 robot.FT_SetZero(0);
29 robot.Sleep(1000);
30 uint8_t status = 1;
31 int sensor_num = 1;
32 float gain[6] = { 0.0001,0.0,0.0,0.0,0.0,0.0 };
33 uint8_t adj_sign = 0;
34 uint8_t ILC_sign = 0;
35 float max_dis = 100.0;
36 float max_ang = 5.0;
37 ForceTorque ft;
38 memset(&ft, 0, sizeof(ForceTorque));
39 int rcs = 0;
40 float dr = 0.7;
41 float fFinish = 1.0;
42 float t = 60000.0;
43 float vmax = 3.0;
44 float force_goal = 20.0;
45 float lin_v = 0.0;
46 float lin_a = 0.0;
47 float disMax = 100.0;
48 uint8_t linorn = 1;
49 float angVelRot = 2.0;
50 float forceInsertion = 1.0;
51 int angleMax = 45;
52 uint8_t orn = 1;
53 float angAccmax = 0.0;
54 uint8_t rotorn = 1;
55 uint8_t select1[6] = { 0,0,1,1,1,0 };
56 ft.fz = -10.0;
57 robot.FT_Control(status, sensor_num, select1, &ft, gain, adj_sign, ILC_sign, max_dis, max_ang, 0, 0, 0);
58 rtn = robot.FT_SpiralSearch(rcs, dr, fFinish, t, vmax);
59 printf("FT_SpiralSearch rtn is %d\n", rtn);
60 status = 0;
61 robot.FT_Control(status, sensor_num, select1, &ft, gain, adj_sign, ILC_sign, max_dis, max_ang, 0, 0, 0);
62 uint8_t select2[6] = { 1,1,1,0,0,0 };
63 gain[0] = 0.00005;
64 ft.fz = -30.0;
65 status = 1;
66 robot.FT_Control(status, sensor_num, select2, &ft, gain, adj_sign, ILC_sign, max_dis, max_ang, 0, 0, 0);
67 rtn = robot.FT_LinInsertion(rcs, force_goal, lin_v, lin_a, disMax, linorn);
68 printf("FT_LinInsertion rtn is %d\n", rtn);
69 status = 0;
70 robot.FT_Control(status, sensor_num, select2, &ft, gain, adj_sign, ILC_sign, max_dis, max_ang, 0, 0, 0);
71 uint8_t select3[6] = { 0,0,1,1,1,0 };
72 ft.fz = -10.0;
73 gain[0] = 0.0001;
74 status = 1;
75 robot.FT_Control(status, sensor_num, select3, &ft, gain, adj_sign, ILC_sign, max_dis, max_ang, 0, 0, 0);
76 rtn = robot.FT_RotInsertion(rcs, angVelRot, forceInsertion, angleMax, orn, angAccmax, rotorn);
77 printf("FT_RotInsertion rtn is %d\n", rtn);
78 status = 0;
79 robot.FT_Control(status, sensor_num, select3, &ft, gain, adj_sign, ILC_sign, max_dis, max_ang, 0, 0, 0);
80 uint8_t select4[6] = { 1,1,1,0,0,0 };
81 ft.fz = -30.0;
82 status = 1;
83 robot.FT_Control(status, sensor_num, select4, &ft, gain, adj_sign, ILC_sign, max_dis, max_ang, 0, 0, 0);
84 rtn = robot.FT_LinInsertion(rcs, force_goal, lin_v, lin_a, disMax, linorn);
85 printf("FT_LinInsertion rtn is %d\n", rtn);
86 status = 0;
87 robot.FT_Control(status, sensor_num, select4, &ft, gain, adj_sign, ILC_sign, max_dis, max_ang, 0, 0, 0);
88 robot.CloseRPC();
89 return 0;
90}
12.28. Surface Localization
1/**
2* @brief Surface localization
3* @param [in] rcs Reference coordinate system, 0-Tool coordinate system, 1-Base coordinate system
4* @param [in] dir Movement direction, 1-Positive direction, 2-Negative direction
5* @param [in] axis Movement axis, 1-x axis, 2-y axis, 3-z axis
6* @param [in] lin_v Search linear velocity in mm/s
7* @param [in] lin_a Search linear acceleration in mm/s^2, not currently used, default is 0
8* @param [in] max_dis Maximum search distance in mm
9* @param [in] ft Action termination force/torque threshold, fx, fy, fz, tx, ty, tz
10* @return Error code
11*/
12errno_t FT_FindSurface(int rcs, uint8_t dir, uint8_t axis, float lin_v, float lin_a, float max_dis, float ft);
12.29. Calculate Middle Plane Position - Start
1/**
2* @brief Calculate middle plane position - start
3* @return Error code
4*/
5errno_t FT_CalCenterStart();
12.30. Calculate Middle Plane Position - End
1/**
2* @brief Calculate middle plane position - end
3* @param [out] pos Middle plane pose
4* @return Error code
5*/
6errno_t FT_CalCenterEnd(DescPose *pos);
12.31. Surface Localization Code Example
1int TestSurface(void)
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 int company = 24;
14 int device = 0;
15 int softversion = 0;
16 int bus = 1;
17 int index = 1;
18 robot.FT_SetConfig(company, device, softversion, bus);
19 robot.Sleep(1000);
20 robot.FT_GetConfig(&company, &device, &softversion, &bus);
21 printf("FT config:%d,%d,%d,%d\n", company, device, softversion, bus);
22 robot.Sleep(1000);
23 robot.FT_Activate(0);
24 robot.Sleep(1000);
25 robot.FT_Activate(1);
26 robot.Sleep(1000);
27 robot.Sleep(1000);
28 robot.FT_SetZero(0);
29 robot.Sleep(1000);
30 int rcs = 0;
31 uint8_t dir = 1;
32 uint8_t axis = 1;
33 float lin_v = 3.0;
34 float lin_a = 0.0;
35 float maxdis = 50.0;
36 float ft_goal = 2.0;
37 DescPose desc_pos(-419.524, -13.000, 351.569, -178.118, 0.314, 3.833);
38 DescPose xcenter(0, 0, 0, 0, 0, 0);
39 DescPose ycenter(0, 0, 0, 0, 0, 0);
40 ForceTorque ft;
41 memset(&ft, 0, sizeof(ForceTorque));
42 ft.fx = -2.0;
43 robot.MoveCart(&desc_pos, 9, 0, 100.0, 100.0, 100.0, -1.0, -1);
44 robot.FT_CalCenterStart();
45 robot.FT_FindSurface(rcs, dir, axis, lin_v, lin_a, maxdis, ft_goal);
46 robot.MoveCart(&desc_pos, 9, 0, 100.0, 100.0, 100.0, -1.0, -1);
47 robot.WaitMs(1000);
48 dir = 2;
49 robot.FT_FindSurface(rcs, dir, axis, lin_v, lin_a, maxdis, ft_goal);
50 robot.FT_CalCenterEnd(&xcenter);
51 printf("xcenter:%f,%f,%f,%f,%f,%f\n", xcenter.tran.x, xcenter.tran.y, xcenter.tran.z, xcenter.rpy.rx, xcenter.rpy.ry, xcenter.rpy.rz);
52 robot.MoveCart(&xcenter, 9, 0, 60.0, 50.0, 50.0, -1.0, -1);
53 robot.FT_CalCenterStart();
54 dir = 1;
55 axis = 2;
56 lin_v = 6.0;
57 maxdis = 150.0;
58 robot.FT_FindSurface(rcs, dir, axis, lin_v, lin_a, maxdis, ft_goal);
59 robot.MoveCart(&desc_pos, 9, 0, 100.0, 100.0, 100.0, -1.0, -1);
60 robot.WaitMs(1000);
61 dir = 2;
62 robot.FT_FindSurface(rcs, dir, axis, lin_v, lin_a, maxdis, ft_goal);
63 robot.FT_CalCenterEnd(&ycenter);
64 printf("ycenter:%f,%f,%f,%f,%f,%f\n", ycenter.tran.x, ycenter.tran.y, ycenter.tran.z, ycenter.rpy.rx, ycenter.rpy.ry, ycenter.rpy.rz);
65 robot.MoveCart(&ycenter, 9, 0, 60.0, 50.0, 50.0, 0.0, -1);
66 robot.CloseRPC();
67 return 0;
68}
12.32. Compliance Control Activation
1/**
2* @brief Compliance control activation
3* @param [in] p Position adjustment coefficient or compliance coefficient
4* @param [in] force Compliance activation force threshold in N
5* @return Error code
6*/
7errno_t FT_ComplianceStart(float p, float force);
12.33. Compliance Control Deactivation
1/**
2* @brief Compliance control deactivation
3* @return Error code
4*/
5errno_t FT_ComplianceStop();
12.34. Compliance Control Code Example
1int TestCompliance(void)
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 int company = 24;
14 int device = 0;
15 int softversion = 0;
16 int bus = 1;
17 int index = 1;
18 robot.FT_SetConfig(company, device, softversion, bus);
19 robot.Sleep(1000);
20 robot.FT_GetConfig(&company, &device, &softversion, &bus);
21 printf("FT config:%d,%d,%d,%d\n", company, device, softversion, bus);
22 robot.Sleep(1000);
23 robot.FT_Activate(0);
24 robot.Sleep(1000);
25 robot.FT_Activate(1);
26 robot.Sleep(1000);
27 robot.Sleep(1000);
28 robot.FT_SetZero(0);
29 robot.Sleep(1000);
30 uint8_t flag = 1;
31 int sensor_id = 1;
32 uint8_t select[6] = { 1,1,1,0,0,0 };
33 float ft_pid[6] = { 0.0005,0.0,0.0,0.0,0.0,0.0 };
34 uint8_t adj_sign = 0;
35 uint8_t ILC_sign = 0;
36 float max_dis = 100.0;
37 float max_ang = 0.0;
38 ForceTorque ft;
39 DescPose offset_pos(0, 0, 0, 0, 0, 0);
40 ExaxisPos epos(0, 0, 0, 0);
41 memset(&ft, 0, sizeof(ForceTorque));
42 JointPos j1(-11.904, -99.669, 117.473, -108.616, -91.726, 74.256);
43 JointPos j2(-45.615, -106.172, 124.296, -107.151, -91.282, 74.255);
44 DescPose desc_p1(-419.524, -13.000, 351.569, -178.118, 0.314, 3.833);
45 DescPose desc_p2(-321.222, 185.189, 335.520, -179.030, -1.284, -29.869);
46 ft.fx = -10.0;
47 ft.fy = -10.0;
48 ft.fz = -10.0;
49 robot.FT_Control(flag, sensor_id, select, &ft, ft_pid, adj_sign, ILC_sign, max_dis, max_ang, 0, 0, 0);
50 float p = 0.00005;
51 float force = 30.0;
52 rtn = robot.FT_ComplianceStart(p, force);
53 printf("FT_ComplianceStart rtn is %d\n", rtn);
54 int count = 15;
55 while (count)
56 {
57 robot.MoveL(&j1, &desc_p1, 0, 0, 100.0, 180.0, 100.0, -1.0, &epos, 0, 1, &offset_pos);
58 robot.MoveL(&j2, &desc_p2, 0, 0, 100.0, 180.0, 100.0, -1.0, &epos, 0, 0, &offset_pos);
59 count -= 1;
60 }
61 robot.FT_ComplianceStop();
62 printf("FT_ComplianceStop rtn is %d\n", rtn);
63 flag = 0;
64 robot.FT_Control(flag, sensor_id, select, &ft, ft_pid, adj_sign, ILC_sign, max_dis, max_ang, 0, 0, 0);
65 robot.CloseRPC();
66 return 0;
67}
12.35. Payload Identification Initialization
1/**
2* @brief Payload identification initialization
3* @return Error code
4*/
5errno_t LoadIdentifyDynFilterInit();
12.36. Payload Identification Initialization
1/**
2* @brief Payload identification initialization
3* @return Error code
4*/
5errno_t LoadIdentifyDynVarInit();
12.37. Payload Identification Main Program
1/**
2* @brief Payload identification main program
3* @param [in] joint_torque Joint torque
4* @param [in] joint_pos Joint position
5* @param [in] t Sampling period
6* @return Error code
7*/
8errno_t LoadIdentifyMain(double joint_torque[6], double joint_pos[6], double t);
12.38. Get Payload Identification Result
1/**
2* @brief Get payload identification result
3* @param [in] gain
4* @param [out] weight Payload weight
5* @param [out] cog Payload COG
6* @return Error code
7*/
8errno_t LoadIdentifyGetResult(double gain[12], double *weight, DescTran *cog);
12.39. Robot Payload Identification Code Example
1int TestIdentify(void)
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 int retval = 0;
14 retval = robot.LoadIdentifyDynFilterInit();
15 printf("LoadIdentifyDynFilterInit retval is: %d \n", retval);
16 retval = robot.LoadIdentifyDynVarInit();
17 printf("LoadIdentifyDynVarInit retval is: %d \n", retval);
18 JointPos posJ = {};
19 DescPose posDec = {};
20 float joint_toq[6] = { 0.0 };
21 robot.GetActualJointPosDegree(0, &posJ);
22 posJ.jPos[1] = posJ.jPos[1] + 10;
23 robot.GetJointTorques(0, joint_toq);
24 joint_toq[1] = joint_toq[1] + 2;
25 double tmpTorque[6] = { 0.0 };
26 for (int i = 0; i < 6; i++)
27 {
28 tmpTorque[i] = joint_toq[i];
29 }
30 retval = robot.LoadIdentifyMain(tmpTorque, posJ.jPos, 1);
31 printf("LoadIdentifyMain retval is: %d \n", retval);
32 double gain[12] = { 0,0.05,0,0,0,0,0,0.02,0,0,0,0 };
33 double weight = 0;
34 DescTran load_pos;
35 memset(&load_pos, 0, sizeof(DescTran));
36 retval = robot.LoadIdentifyGetResult(gain, &weight, &load_pos);
37 printf("LoadIdentifyGetResult retval is: %d ; weight is %f cog is %f %f %f \n", retval, weight, load_pos.x, load_pos.y, load_pos.z);
38 robot.CloseRPC();
39 return 0;
40}
12.40. Force Sensor Assisted Drag
Changed in version C++SDK-v2.2.0-3.8.0.
1/**
2 * @brief Force sensor assisted drag
3 * @param [in] status Control status, 0-Off; 1-On
4 * @param [in] asaptiveFlag Adaptive activation flag, 0-Off; 1-On
5 * @param [in] interfereDragFlag Interference area drag flag, 0-Off; 1-On
6 * @param [in] ingularityConstraintsFlag Singularity strategy, 0-Avoid; 1-Cross
7 * @param [in] forceCollisionFlag Robot collision detection sign for auxiliary dragging; 0-off; 1-on
8 * @param [in] M Inertia coefficient
9 * @param [in] B Damping coefficient
10 * @param [in] K Stiffness coefficient
11 * @param [in] F Drag six-dimensional force threshold
12 * @param [in] Fmax Maximum drag force limit
13 * @param [in] Vmax Maximum joint velocity limit
14 * @return error code
15 */
16 errno_t EndForceDragControl(int status, int asaptiveFlag, int interfereDragFlag, int ingularityConstraintsFlag, int forceCollisionFlag, std::vector<double> M, std::vector<double> B, std::vector<double> K, std::vector<double> F, double Fmax, double Vmax);
12.41. Get Force Sensor Drag Switch Status
New in version C++SDK-v2.1.5.0.
1/**
2 * @brief Get force sensor drag switch status
3 * @param [out] dragState Force sensor assisted drag control status, 0-Off; 1-On
4 * @param [out] sixDimensionalDragState Six-dimensional force assisted drag control status, 0-Off; 1-On
5 * @return Error code
6 */
7errno_t GetForceAndTorqueDragState(int& dragState, int& sixDimensionalDragState);
12.42. Force Sensor Auto Activation After Error Clear
New in version C++SDK-v2.1.5.0.
1/**
2 * @brief Auto activate force sensor after error clear
3 * @param [in] status Control status, 0-Off; 1-On
4 * @return Error code
5 */
6errno_t SetForceSensorDragAutoFlag(int status);
12.43. Force Sensor Assisted Drag Code Example
1int TestEndForceDragCtrl(void)
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 robot.SetForceSensorDragAutoFlag(1);
14 vector <double> M = { 15.0, 15.0, 15.0, 0.5, 0.5, 0.1 };
15 vector <double> B = { 150.0, 150.0, 150.0, 5.0, 5.0, 1.0 };
16 vector <double> K = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
17 vector <double> F = { 10.0, 10.0, 10.0, 1.0, 1.0, 1.0 };
18 robot.EndForceDragControl(1, 0, 0, 0, 1, M, B, K, F, 50, 100);
19 robot.Sleep(5000);
20 int dragState = 0;
21 int sixDimensionalDragState = 0;
22 robot.GetForceAndTorqueDragState(dragState, sixDimensionalDragState);
23 printf("the drag state is %d %d \n", dragState, sixDimensionalDragState);
24 robot.EndForceDragControl(0, 0, 0, 0, 1, M, B, K, F, 50, 100);
25 robot.CloseRPC();
26 return 0;
27}
12.44. Set Six-Dimensional Force and Joint Impedance Hybrid Drag Switch and Parameters
New in version C++SDK-v2.1.5.0.
1/**
2 * @brief Set six-dimensional force and joint impedance hybrid drag switch and parameters
3 * @param [in] status Control status, 0-Off; 1-On
4 * @param [in] impedanceFlag Impedance activation flag, 0-Off; 1-On
5 * @param [in] lamdeDain Drag gain
6 * @param [in] KGain Stiffness gain
7 * @param [in] BGain Damping gain
8 * @param [in] dragMaxTcpVel Maximum end linear velocity limit for drag
9 * @param [in] dragMaxTcpOriVel Maximum end angular velocity limit for drag
10 * @return Error code
11 */
12errno_t ForceAndJointImpedanceStartStop(int status, int impedanceFlag, std::vector<double> lamdeDain, std::vector<double> KGain, std::vector<double> BGain, double dragMaxTcpVel, double dragMaxTcpOriVel);
12.45. Six-Dimensional Force and Joint Impedance Hybrid Drag Code Example
New in version C++SDK-v2.1.5.0.
1int TestForceAndJointImpedance(void)
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 robot.DragTeachSwitch(1);
14 vector <double> lamdeDain = { 3.0, 2.0, 2.0, 2.0, 2.0, 3.0 };
15 vector <double> KGain = { 0, 0, 0, 0, 0, 0 };
16 vector <double> BGain = { 150, 150, 150, 5.0, 5.0, 1.0 };
17 rtn = robot.ForceAndJointImpedanceStartStop(1, 0, lamdeDain, KGain, BGain, 1000, 180);
18 printf("ForceAndJointImpedanceStartStop rtn is %d\n", rtn);
19 robot.Sleep(5000);
20 robot.DragTeachSwitch(0);
21 rtn = robot.ForceAndJointImpedanceStartStop(0, 0, lamdeDain, KGain, BGain, 1000, 180);
22 printf("ForceAndJointImpedanceStartStop rtn is %d\n", rtn);
23 robot.CloseRPC();
24 return 0;
25}
12.46. Impedance Start/Stop Control
New in version C++SDK-v3.8.6.
1/**
2* @brief Impedance Start/Stop Control
3* @param [in] status 0: Stop; 1- Start
4* @param [in] workSpace 0- Joint Space; 1- Cartesian Space
5* @param [in] forceThreshold Trigger force threshold (N)
6* @param [in] m Mass parameter
7* @param [in] b Damping parameter
8* @param [in] k Stiffness parameter
9* @param [in] maxV Maximum linear velocity (mm/s)
10* @param [in] maxVA Maximum linear acceleration (mm/s²)
11* @param [in] maxW Maximum angular velocity (°/s)
12* @param [in] maxWA Maximum angular acceleration (°/s²)
13* @return Error code
14*/
15errno_t ImpedanceControlStartStop(int status, int workSpace, double forceThreshold[6], double m[6], double b[6], double k[6], double maxV, double maxVA, double maxW, double maxWA);
12.47. Robot Impedance Start/Stop Control Code Example
New in version C++SDK-v3.8.6.
1int TestImpedanceControl()
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 uint8_t ctrl[20];
6 uint8_t state;
7 int pressVlaue;
8 int error;
9 robot.CloseRPC();
10 robot.LoggerInit();
11 robot.SetLoggerLevel(1);
12 int rtn = robot.RPC("192.168.58.2");
13 if (rtn != 0)
14 {
15 return 0;
16 }
17 robot.SetReConnectParam(true, 30000, 500);
18 JointPos j1(102.622, -135.990, 120.769, -73.950, -90.848, 35.507);
19 JointPos j2(93.674, -80.062, 82.947, -92.199, -90.967, 26.559);
20 DescPose desc_pos1(136.552, -149.799, 449.532, 179.817, -1.172, 157.123);
21 DescPose desc_pos2(136.540, -561.048, 449.542, 179.819, -1.172, 157.122);
22 DescPose offset_pos(0, 0, 0, 0, 0, 0);
23 ExaxisPos epos(0, 0, 0, 0);
24 int tool = 0;
25 int user = 0;
26 float vel = 100.0;
27 float acc = 200.0;
28 float ovl = 100.0;
29 float blendT = -1.0;
30 float blendR = -1.0;
31 uint8_t flag = 0;
32 uint8_t search = 0;
33 robot.SetSpeed(20);
34 int company = 17;
35 int device = 0;
36 int softversion = 0;
37 int bus = 1;
38 robot.FT_SetConfig(company, device, softversion, bus);
39 robot.Sleep(1000);
40 robot.FT_GetConfig(&company, &device, &softversion, &bus);
41 printf("FT config:%d,%d,%d,%d\n", company, device, softversion, bus);
42 robot.Sleep(1000);
43 robot.FT_Activate(0);
44 robot.Sleep(1000);
45 robot.FT_Activate(1);
46 robot.Sleep(1000);
47 robot.Sleep(1000);
48 robot.FT_SetZero(0);
49 robot.Sleep(1000);
50 robot.FT_SetZero(1);
51 robot.Sleep(1000);
52 double forceThreshold[6] = { 30,30,30,5,5,5 };
53 double m[6] = { 0.1,0.1,0.1,0.02,0.02,0.02 };
54 double b[6] = { 1,1,1,0.08,0.08,0.08 };
55 double k[6] = { 0,0,0,0,0,0 };
56 rtn = robot.ImpedanceControlStartStop(1, 1, forceThreshold, m, b, k, 1000, 500, 100, 100);
57 printf("ImpedanceControlStartStop errcode:%d\n", rtn);
58 rtn = robot.MoveL(&desc_pos1, tool, user, vel, acc, ovl, blendR, 0, &epos, search, flag, &offset_pos, -1, 1);
59 rtn = robot.MoveL(&desc_pos2, tool, user, vel, acc, ovl, blendR, 0, &epos, search, flag, &offset_pos, -1, 1);
60 rtn = robot.MoveL(&desc_pos1, tool, user, vel, acc, ovl, blendR, 0, &epos, search, flag, &offset_pos, -1, 1);
61 rtn = robot.MoveL(&desc_pos2, tool, user, vel, acc, ovl, blendR, 0, &epos, search, flag, &offset_pos, -1, 1);
62 printf("movel errcode:%d\n", rtn);
63 robot.ImpedanceControlStartStop(0, 1, forceThreshold, m, b, k, 1000, 500, 100, 100);
64 robot.CloseRPC();
65 return 0;
66}
12.48. Enable torque compensation function and compensation coefficient
1/**
2* @brief Enable torque compensation function and compensation coefficient
3* @param [in] status Switch, 0-Disable; 1-Enable
4* @param [in] torqueCoeff J1-J6 torque compensation coefficient [0-1]
5* @return Error code
6*/
7errno_t SerCoderCompenParams(int status, double torqueCoeff[6]);