CDRFLEx.set_stiffnessx
Features
This function sets the stiffness value based on the global coordinate (refer to set_ref_coord). The linear transition from the current or default stiffness is performed during the time given as STX. The user-defined ranges of the translational stiffness and rotational stiffness are 0-20000N/m and 0-400Nm/rad, respectively.
Parameter
Parameter Name | Data Type | Default Value | Description |
fTargetStiffness | float[6] | - | Three translational stiffnesses Three rotational stiffnesses |
eForceReference | enum.COORDINATE_SYSTEM | COORDINATE_SYSTEM_TOOL | Refer to the Definition of Constant and Enumeration Type |
fTargetTime | float | 0 | Stiffness varying time [sec] Range: 0 - 1.0 * Linear transition during the specified time |
Return
Value | Description |
0 | Failed |
1 | Success |
Example
CPP
float p0[6] = {0, 0, 90, 0, 90, 0};
Drfl.movej(p0, 60, 30);
float stx[6] = {3000, 3000, 3000, 200, 200, 200};
Drfl.task_compliance_ctrl(stx);
float stx2[6] = {1, 2, 3, 4, 5, 6};
Drfl.set_stiffnessx(stx2);
Drfl.release_compliance_ctrl();