Definition
release_force(time=0)
Features
This function reduces the force control target value to 0 through the time value and returns the task space to adaptive control.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
time |
float |
0 |
Time needed to reduce the force Range: 0 - 1.0 |
Return
|
Value |
Description |
|---|---|
|
0 |
Success |
|
Negative value |
Error |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
Python
j0 = posj(0, 0, 90, 0, 90, 0)
x0 = posx(0, 0, 0, 0, 0, 0)
x1 = posx(0, 500, 700, 0, 180, 0)
x2 = posx(300, 100, 700, 0, 180, 0)
x3 = posx(300, 100, 500, 0, 180, 0)
set_velx(100,20)
set_accx(100,20)
movej(j0, vel=10, acc=10)
movel(x2)
task_compliance_ctrl(stx = [500, 500, 500, 100, 100, 100])
fd = [0, 0, 0, 0, 0, 10]
fctrl_dir= [0, 0, 1, 0, 0, 1]
set_desired_force(fd, dir=fctrl_dir, time=1.0)
movel(x3, v=10)
release_force(0.5)
release_compliance_ctrl()
Related commands
Keyword
release / force / release_