CDRFLEx.task_compliance_ctrl
Features
This function begins task compliance control based on the preset reference coordinate system.
Parameter
Parameter Name | Data Type | Default Value | Description |
fTargetStiffness | float[6] | [3000, 3000, 3000, 200, 200, 200] | 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);