Functions Module motion
force mode(task frame, selection vector, wrench, type, limits)
Set robot to be controlled in force mode
Parameters
task frame: A pose vector that defines the force
frame relative to the base frame.
selection vector: A 6d vector that may only contain 0 or
1. 1 means that the robot will be
compliant in the corresponding axis of
the task frame, 0 means the robot is
not compliant along/about that axis.
wrench: The forces/torques the robot is to
apply to its environment. These values
have different meanings whether they
correspond to a compliant axis or not.
Compliant axis: The robot will adjust its
position along/about the axis in order
to achieve the specified force/torque.
Non-compliant axis: The robot follows
the trajectory of the program but will
account for an external force/torque
of the specified value.
type: An integer specifying how the robot
interprets the force frame. 1: The force
frame is transformed in a way such
that its y-axis is aligned with a vector
pointing from the robot tcp towards
the origin of the force frame. 2: The
force frame is not transformed. 3: The
force frame is transformed in a way
such that its x-axis is the projection of
the robot tcp velocity vector onto the
x-y plane of the force frame. All other
values of type are invalid.
limits: A 6d vector with float values that are
interpreted differently for
compliant/non-compliant axes:
Compliant axes: The limit values for
compliant axes are the maximum
allowed tcp speed along/about the
axis. Non-compliant axes: The limit
values for non-compliant axes are the
maximum allowed deviation
along/about an axis between the
actual tcp position and the one set by
the program.
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URScript