SetStiffnessx.srv
Features
This service 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.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
stx | float64[6] | [500, 500, 500, 100, 100, 100] | Three translational stiffnesses Three rotational stiffnesses |
ref | int8 | 1 | MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_TOOL=1 MOVE_REFERENCE_WORLD=2 MOVE_REFERENCE_USER=101~120 |
time | float | 0 | Stiffness varying time [sec] Range: 0 - 1.0 * Linear transition during the specified time |
Return
Return Name | Data Type | Default Value | Description |
|---|---|---|---|
success | bool | - | True or False |