set_stiffnessx(stx, time)
Features
This function sets the stiffness value based on the global coordinate (refer to set_ref_coord()). The stiffness linearly changes for a given time from the current stiffness or default value to STX.The user-defined ranges of the translational stiffness and rotational stiffness are 0-20000N/m and 0-400Nm/rad, respectively.
User-defined ranges of stiffness
- M/H Series: Translation(0~20000N/m), Rotation(0~1000Nm/rad)
- A Series: Translation(0~10000N/m), Rotation(0~300Nm/rad)
Caution
In the Non-FTS A model, the data type of the stx parameter is changed to float[3] (rotational stiffness cannot be input)
Caution
If the command is used in a simulation environment without a robot, it may not operate normally.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
stx | float[6] | [500, 500, 500, 100, 100, 100] | Three translational stiffnesses Three rotational stiffnesses |
time | float | 0 | Stiffness varying time [sec] Range: 0 - 1.0 * Linear transition during the specified time |
Return
Value | Description |
|---|---|
0 | Success |
Negative value | Error |
Exception
Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
DR_Error (DR_ERROR_VALUE) | Parameter value is invalid |
DR_Error (DR_ERROR_RUNTIME) | C extension module error occurred |
DR_Error (DR_ERROR_STOP) | Program terminated forcefully |
Example
set_ref_coord(DR_WORLD) # Global coordinate is the world coordinate
x0 = posx(0, 0, 90, 0, 90, 0)
movej(x0)
task_compliance_ctrl()
stx = [1, 2, 3, 4, 5, 6]
set_stiffnessx(stx) # Set the stiffness value based on the global coordinate(world coordinate)
release_compliance_ctrl()