力控接口抽象类更多...

#include <force_control.h>

Public 成员函数
	ForceControl ()

virtual	~ForceControl ()

int	fcEnable ()
	Start force control. 更多...

int	fcDisable ()
	End force control. 更多...

bool	isFcEnabled ()
	判断力控是否被使能更多...

int	setTargetForce (const std::vector< double > &feature, const std::vector< bool > &compliance, const std::vector< double > &wrench, const std::vector< double > &limits, TaskFrameType type=TaskFrameType::FRAME_FORCE)
	设置力控参考(目标)值更多...

int	setDynamicModel (const std::vector< double > &m, const std::vector< double > &d, const std::vector< double > &k)
	设置力控动力学模型更多...

DynamicsModel	getDynamicModel ()
	获取力控动力学模型更多...

int	setCondForce (const std::vector< double > &min, const std::vector< double > &max, bool outside, double timeout)
	设置力控终止条件：力，当测量的力在设置的范围之内，力控算法将保持运行，直到设置的条件不满足，力控将退出更多...

int	setCondOrient (const std::vector< double > &frame, double max_angle, double max_rot, bool outside, double timeout)
	FCCondOrient is used to set up an end condition for the tool orientation. 更多...

int	setCondPlane (const std::vector< double > &plane, double timeout)
	指定力控有效平面，x-y平面，z方向有效更多...

int	setCondCylinder (const std::vector< double > &axis, double radius, bool outside, double timeout)
	指定力控有效圆柱体，提供中心轴和圆柱半径，可以指定圆柱内部还是外部更多...

int	setCondSphere (const std::vector< double > &center, double radius, bool outside, double timeout)
	指定力控有效球体，提供球心和半径，可以指定球体内部还是外部更多...

int	setCondTcpSpeed (const std::vector< double > &min, const std::vector< double > &max, bool outside, double timeout)
	FCCondTCPSpeed is used to setup an end condition for the TCP speed. 更多...

int	setCondDistance (double distance, double timeout)
	力控终止条件-距离更多...

int	setCondAdvanced (const std::string &type, const std::vector< double > &args, double timeout)
	高级力控终止条件更多...

int	setCondActive ()
	激活力控终止条件更多...

bool	isCondFullfiled ()
	力控终止条件是否已经满足更多...

int	setSupvForce (const std::vector< double > &min, const std::vector< double > &max)
	FCSupvForce is used to set up force supervision in Force Control. 更多...

int	setSupvOrient (const std::vector< double > &frame, double max_angle, double max_rot, bool outside)
	FCSupvOrient is used to set up an supervision for the tool orientation. 更多...

int	setSupvPosBox (const std::vector< double > &frame, const Box &box)
	FCSupvPos is used to set up position supervision in Force Control. 更多...

int	setSupvPosCylinder (const std::vector< double > &frame, const Cylinder &cylinder)

int	setSupvPosSphere (const std::vector< double > &frame, const Sphere &sphere)

int	setSupvReoriSpeed (const std::vector< double > &speed_limit, bool outside, double timeout)
	FCSupvReoriSpeed is used to set up reorientation speed supervision in Force Control. 更多...

int	setSupvTcpSpeed (const std::vector< double > &speed_limit, bool outside, double timeout)
	FCSupvTCPSpeed is used to set up TCP speed supervision in Force Control. 更多...

int	setLpFilter (const std::vector< double > &cutoff_freq)
	设置低通滤波器更多...

int	resetLpFilter ()
	重置低通滤波器更多...

int	speedChangeEnable (double ref_force)
	The FCSpdChgAct is used to activate FC SpeedChange function with desired reference and recover behavior. 更多...

int	speedChangeDisable ()
	Deactivate FC SpeedChange function. 更多...

int	speedChangeTune (int speed_levels, double speed_ratio_min)
	FCSpdChgTunSet is used to set FC SpeedChange system parameters to a new value. 更多...

int	setDamping (const std::vector< double > &damping, double ramp_time)
	FCSetDampingTune is used to tune the damping in the force control coordinate systems. 更多...

int	resetDamping ()

int	softFloatEnable ()

int	softFloatDisable ()

bool	isSoftFloatEnabled ()
	返回是否开启了软浮动更多...

int	setSoftFloatParams (bool joint_space, const std::vector< bool > &select, const std::vector< double > &stiff_percent, const std::vector< double > &stiff_damp_ratio, const std::vector< double > &force_threshold, const std::vector< double > &force_limit)
	设置软浮动参数更多...

int	toolContact (const std::vector< bool > &direction)
	检测工具和外部物体的接触更多...

Protected 属性
void *	d_ { nullptr }

详细描述

力控接口抽象类

在文件 force_control.h 第 55 行定义.

构造及析构函数说明

arcs::common_interface::ForceControl::ForceControl ( )

virtual arcs::common_interface::ForceControl::~ForceControl ( )

virtual

成员函数说明

int arcs::common_interface::ForceControl::fcDisable ( )

End force control.

fcDisable is used to disable Force Control. After a successful deactivation the robot is back in position control.

失能力控。 fcDisable 被用于失能力控。在成功失能力控之后，机器人将回到位置控制模式。

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: fcDisable(self: pyaubo_sdk.ForceControl) -> int

Lua函数原型: fcDisable() -> nil

int arcs::common_interface::ForceControl::fcEnable ( )

Start force control.

fcEnable is used to enable Force Control. At the same time as Force Control is enabled, fcEnable is used to define the coordinate system for Force Control, and tune the force and torque damping. If a coordinate system is not specified in fcEnable a default force control coordinate system is created with the same orientation as the work object coordinate system. All Force Control supervisions are activated by fcEnable.

使能力控。 fcEnable 被用于使能力控。在力控被使能的同时， fcEnable 用于定义力控的坐标系，并调整力和力矩的阻尼。如果在 fcEnable 中未指定坐标系，则会创建一个默认的力控制坐标系，其方向与工作对象坐标系相同。所有力控制监管功能都被 fcEnable 激活。

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: fcEnable(self: pyaubo_sdk.ForceControl) -> int

Lua函数原型: fcEnable() -> nil

DynamicsModel arcs::common_interface::ForceControl::getDynamicModel ( )

获取力控动力学模型

返回: 力控动力学模型

异常

arcs::common_interface::AuboException

Python函数原型: getDynamicModel(self: pyaubo_sdk.ForceControl) -> Tuple[List[float], List[float], List[float]]

Lua函数原型: getDynamicModel() -> table

bool arcs::common_interface::ForceControl::isCondFullfiled ( )

力控终止条件是否已经满足

返回

异常

arcs::common_interface::AuboException

Python函数原型: isCondFullfiled(self: pyaubo_sdk.ForceControl) -> bool

Lua函数原型: isCondFullfiled() -> boolean

bool arcs::common_interface::ForceControl::isFcEnabled ( )

判断力控是否被使能

返回: 使能返回true，失能返回false

异常

arcs::common_interface::AuboException

Python函数原型: isFcEnabled(self: pyaubo_sdk.ForceControl) -> bool

Lua函数原型: isFcEnabled() -> boolean

bool arcs::common_interface::ForceControl::isSoftFloatEnabled ( )

返回是否开启了软浮动

返回

异常

arcs::common_interface::AuboException

int arcs::common_interface::ForceControl::resetDamping ( )

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: resetDamping(self: pyaubo_sdk.ForceControl) -> int

Lua函数原型: resetDamping() -> nil

int arcs::common_interface::ForceControl::resetLpFilter ( )

重置低通滤波器

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: resetLpFilter(self: pyaubo_sdk.ForceControl) -> int

Lua函数原型: resetLpFilter() -> nil

int arcs::common_interface::ForceControl::setCondActive ( )

激活力控终止条件

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setCondActive(self: pyaubo_sdk.ForceControl) -> int

Lua函数原型: setCondActive() -> nil

int arcs::common_interface::ForceControl::setCondAdvanced	(	const std::string &	type,
		const std::vector< double > &	args,
		double	timeout
	)

高级力控终止条件

参数

type
args
timeout

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

int arcs::common_interface::ForceControl::setCondCylinder	(	const std::vector< double > &	axis,
		double	radius,
		bool	outside,
		double	timeout
	)

指定力控有效圆柱体，提供中心轴和圆柱半径，可以指定圆柱内部还是外部

参数

axis
radius
outside
timeout

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setCondCylinder(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: float, arg2: bool, arg3: float) -> int

Lua函数原型: setCondCylinder(axis: table, radius: number, outside: boolean, timeout: number) -> nil

int arcs::common_interface::ForceControl::setCondDistance	(	double	distance,
		double	timeout
	)

力控终止条件-距离

参数

distance
timeout

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

int arcs::common_interface::ForceControl::setCondForce	(	const std::vector< double > &	min,
		const std::vector< double > &	max,
		bool	outside,
		double	timeout
	)

设置力控终止条件：力，当测量的力在设置的范围之内，力控算法将保持运行，直到设置的条件不满足，力控将退出

FCCondForce is used to set up an end condition based on measured force. The condition is lateractivated by calling the instruction FCCondWaitWhile, which will wait and hold the program execution while the specified condition is true. This allows the reference force, torque and movement to continue until the force is outside the specified limits.

A force condition is set up by defining minimum and maximum limits for the force in the directions of the force control coordinate system. Once activated with FCCondWaitWhile, the program execution will continue to wait while the measured force is within its specified limits.

It is possible to specify that the condition is fulfilled when the force is outside the specified limits instead. This is done by using the switch argument Outside. The condition on force is specified in the force control coordinate system. This coordinate system is setup by the user in the instruction FCAct.

参数

min	各方向最小的力/力矩
max	各方向最大的力/力矩
outside	false 在设置条件的范围之内有效 true 在设置条件的范围之外有效
timeout	时间限制，单位s(秒)，从开始力控到达该时间时，不管是否满足力控终止条件，都会终止力控

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setCondForce(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: List[float], arg2: bool, arg3: float) -> int

Lua函数原型: setCondForce(min: table, max: table, outside: boolean, timeout: number) -> nil

int arcs::common_interface::ForceControl::setCondOrient	(	const std::vector< double > &	frame,
		double	max_angle,
		double	max_rot,
		bool	outside,
		double	timeout
	)

FCCondOrient is used to set up an end condition for the tool orientation.

The condition is lateractivated by calling the instruction FCCondWaitWhile, which will wait and hold the program execution while the specified condition is true. This allows the reference force, torque and movement to continue until the orientation is outside the specified limits.

An orientation condition is set up by defining a maximum angle and a maximum rotation from a reference orientation. The reference orientation is either defined by the current z direction of the tool, or by specifying an orientation in relation to the z direction of the work object.

Once activated, the tool orientation must be within the limits (or outside, if the argument Outside is used).

参数

frame
max_angle
max_rot
outside
timeout

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setCondOrient(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: float, arg2: float, arg3: bool, arg4: float) -> int

Lua函数原型: setCondOrient(frame: table, max_angle: number, max_rot: number, outside: boolean, timeout: number) -> nil

int arcs::common_interface::ForceControl::setCondPlane	(	const std::vector< double > &	plane,
		double	timeout
	)

指定力控有效平面，x-y平面，z方向有效

FCCondPos is used to set up an end condition for the TCP position. The condition is later activated by calling the instruction FCCondWaitWhile, which will wait and hold the program execution while the specified condition is true. This allows the reference force, torque and movement to continue until the specified position is outside the specified limits.

A position condition is set up by defining a volume in space for the TCP position. Once activated the measured TCP position has to be within the specified volume (or outside, if the argument Outside is used).

参数

plane={A,B,C,D}	平面表示方法 Ax +By +Cz + D = 0 其中,n = (A, B, C)是平面的法向量， D 是将平面平移到坐标原点所需距离（所以D=0时，平面过原点）
timeout

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setCondPlane(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: float) -> int

Lua函数原型: setCondPlane(plane: table, timeout: number) -> nil

int arcs::common_interface::ForceControl::setCondSphere	(	const std::vector< double > &	center,
		double	radius,
		bool	outside,
		double	timeout
	)

指定力控有效球体，提供球心和半径，可以指定球体内部还是外部

参数

center
radius
outside
timeout

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setCondSphere(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: float, arg2: bool, arg3: float) -> int

Lua函数原型: setCondSphere(center: table, radius: number, outside: boolean, timeout: number) -> nil

int arcs::common_interface::ForceControl::setCondTcpSpeed	(	const std::vector< double > &	min,
		const std::vector< double > &	max,
		bool	outside,
		double	timeout
	)

FCCondTCPSpeed is used to setup an end condition for the TCP speed.

The condition is lateractivated by calling the instruction FCCondWaitWhile, which will wait and hold the program execution while the specified condition is true. This allows the reference force, torque and movement to continue until the speed is outside the specified limits.

A TCP speed condition is setup up by defining minimum and maximum limits for the TCP speed in all directions of the work object. Once activated with FCCondWaitWhile, the program execution will continue to wait while the measured speed is within its specified limits.

It is possible to specify that the condition is fulfilled when the speed is outside the specified limits instead. This is the done by using the switch argument Outside. The condition on TCP speed is specified in the work object coordinate system.

参数

min
max
outside
timeout

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setCondTcpSpeed(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: List[float], arg2: bool, arg3: float) -> int

Lua函数原型: setCondTcpSpeed(min: table, max: table, outside: boolean, timeout: number) -> nil

int arcs::common_interface::ForceControl::setDamping	(	const std::vector< double > &	damping,
		double	ramp_time
	)

FCSetDampingTune is used to tune the damping in the force control coordinate systems.

The parameters tuned are those described in Damping in Torque x Direction - Damping in Torque z Direction on page 255 and Damping in Force x Direction - Damping in Force z Direction on page 254.

Damping can be set in the configuration file or by the instruction FCAct. The difference is that this instruction can be used when force control is active. FCSetDampingTune tunes the actual values set by the instruction FCAct, not the value in the configuration file.

参数

damping
ramp_time

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setDamping(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: float) -> int

Lua函数原型: setDamping(damping: table, ramp_time: number) -> nil

int arcs::common_interface::ForceControl::setDynamicModel	(	const std::vector< double > &	m,
		const std::vector< double > &	d,
		const std::vector< double > &	k
	)

设置力控动力学模型

参数

m
d
k

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setDynamicModel(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: List[float], arg2: List[float]) -> int

Lua函数原型: setDynamicModel(m: table, d: table, k: table) -> nil

int arcs::common_interface::ForceControl::setLpFilter ( const std::vector< double > & cutoff_freq )

设置低通滤波器

— force frame filter: 过滤测量到的力/力矩 +++ force loop filter: 力控输出参考速度的滤波器

FCSetLPFilterTune is used change the response of force loop according to description in Damping and LP-filter on page 103.

参数

cutoff_freq

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setLpFilter(self: pyaubo_sdk.ForceControl, arg0: List[float]) -> int

Lua函数原型: setLpFilter(cutoff_freq: table) -> nil

int arcs::common_interface::ForceControl::setSoftFloatParams	(	bool	joint_space,
		const std::vector< bool > &	select,
		const std::vector< double > &	stiff_percent,
		const std::vector< double > &	stiff_damp_ratio,
		const std::vector< double > &	force_threshold,
		const std::vector< double > &	force_limit
	)

设置软浮动参数

参数

joint_softfloat
select
stiff_percent
stiff_damp_ratio
force_threshold
force_limit

返回

int arcs::common_interface::ForceControl::setSupvForce	(	const std::vector< double > &	min,
		const std::vector< double > &	max
	)

FCSupvForce is used to set up force supervision in Force Control.

The supervision is activated when Force Control is activated with the instruction FCAct.

The force supervision is set up by defining minimum and maximum limits for the force in the directions of the force control coordinate system. Once activated, the supervision will stop the execution if the force is outside the allowed values. The force supervision is specified in the force control coordinate system. This coordinate system is setup by the user with the instruction FCAct.

参数

min
max

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setSupvForce(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: List[float]) -> int

Lua函数原型: setSupvForce(min: table, max: table) -> nil

int arcs::common_interface::ForceControl::setSupvOrient	(	const std::vector< double > &	frame,
		double	max_angle,
		double	max_rot,
		bool	outside
	)

FCSupvOrient is used to set up an supervision for the tool orientation.

The supervision is activated when Force Control is activated with the instruction FCAct.

An orientation supervision is set up by defining a maximum angle and a maximum rotation from a reference orientation. The reference orientation is either defined by the current z direction of the tool, or by specifying an orientation in relation to the z direction of the work object.

Once activated, the tool orientation must be within the limits otherwise the supervision will stop the execution.

参数

frame
max_angle
max_rot
outside

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setSupvOrient(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: float, arg2: float, arg3: bool) -> int

Lua函数原型: setSupvOrient(frame: table, max_angle: number, max_rot: number, outside: boolean) -> nil

int arcs::common_interface::ForceControl::setSupvPosBox	(	const std::vector< double > &	frame,
		const Box &	box
	)

FCSupvPos is used to set up position supervision in Force Control.

Supervision is activated when Force Control is activated with the instruction FCAct. Position supervision is set up by defining a volume in space for the TCP. Once activated, the supervision will stop the execution if the TCP is outside this volume.

参数

frame
box

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setSupvPosBox(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: List[float[6]]) -> int

Lua函数原型: setSupvPosBox(frame: table, box: table) -> nil

int arcs::common_interface::ForceControl::setSupvPosCylinder	(	const std::vector< double > &	frame,
		const Cylinder &	cylinder
	)

参数

frame
cylinder

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setSupvPosCylinder(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: List[float[5]]) -> int

Lua函数原型: setSupvPosCylinder(frame: table, cylinder: table) -> nil

int arcs::common_interface::ForceControl::setSupvPosSphere	(	const std::vector< double > &	frame,
		const Sphere &	sphere
	)

参数

frame
sphere

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setSupvPosSphere(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: List[float[3]]) -> int

Lua函数原型: setSupvPosSphere(frame: table, sphere: table) -> nil

int arcs::common_interface::ForceControl::setSupvReoriSpeed	(	const std::vector< double > &	speed_limit,
		bool	outside,
		double	timeout
	)

FCSupvReoriSpeed is used to set up reorientation speed supervision in Force Control.

The supervision is activated when Force Control is activated with the instruction FCAct.

The reorientation speed supervision is set up by defining minimum and maximum limits for the reorientation speed around the axis of the work object coordinate system. Once activated, the supervision will stop the execution if the values of the reorientation speed are to high.

There are two speed supervisions: FCSupvReoriSpeed and FCSupvTCPSpeed, which is described in section FCSupvTCPSpeed on page 199. Both supervisions may be required because:

A robot axis can rotate with high speed while the TCP is stationary.
The TCP can be far from the rotating axisand asmallaxis rotation may result in a high speed movement of the TCP

参数

speed_limit
outside
timeout

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setSupvReoriSpeed(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: bool, arg2: float) -> int

Lua函数原型: setSupvReoriSpeed(speed_limit: table, outside: boolean, timeout: number) -> nil

int arcs::common_interface::ForceControl::setSupvTcpSpeed	(	const std::vector< double > &	speed_limit,
		bool	outside,
		double	timeout
	)

FCSupvTCPSpeed is used to set up TCP speed supervision in Force Control.

The supervision is activated when Force Control is activated with the instruction FCAct. The TCP speed supervision is set up by defining minimum and maximum limits for the TCP speed in the directions of the work object coordinate system. Once activated, the supervision will stop the execution if too high TCP speed values are detected.

There are two speed supervisions: FCSupvTCPSpeed and FCSupvReorispeed, which is described in section FCSupvReoriSpeed on page 197.

Both supervisions may be required because:

A robot axis can rotate with high speed while the TCP is stationary.
The TCP can be far from the rotating axisand asmallaxis rotation may result in a high speed movement of the TCP.

参数

speed_limit
outside
timeout

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setSupvTcpSpeed(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: bool, arg2: float) -> int

Lua函数原型: setSupvTcpSpeed(speed_limit: table, outside: boolean, timeout: number) -> nil

int arcs::common_interface::ForceControl::setTargetForce	(	const std::vector< double > &	feature,
		const std::vector< bool > &	compliance,
		const std::vector< double > &	wrench,
		const std::vector< double > &	limits,
		TaskFrameType	type = `TaskFrameType::FRAME_FORCE`
	)

设置力控参考(目标)值

参数

feature	参考几何特征，用于生成力控参考坐标系
compliance	柔性轴（方向）选择
wrench	目标力/力矩
limits	速度限制
type	力控参考坐标系类型

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setTargetForce(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: List[bool], arg2: List[float], arg3: List[float], arg4: arcs::common_interface::TaskFrameType) -> int

Lua函数原型: setTargetForce(feature: table, compliance: table, wrench: table, limits: table, type: number) -> nil

int arcs::common_interface::ForceControl::softFloatDisable ( )

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

int arcs::common_interface::ForceControl::softFloatEnable ( )

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

int arcs::common_interface::ForceControl::speedChangeDisable ( )

Deactivate FC SpeedChange function.

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: speedChangeDisable(self: pyaubo_sdk.ForceControl) -> int

Lua函数原型: speedChangeDisable() -> nil

int arcs::common_interface::ForceControl::speedChangeEnable ( double ref_force )

The FCSpdChgAct is used to activate FC SpeedChange function with desired reference and recover behavior.

When FC SpeedChange function is active, the robot speed will be reduced/increased in order to keep the measured signal close to the reference.

参数

ref_force

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: speedChangeEnable(self: pyaubo_sdk.ForceControl, arg0: float) -> int

Lua函数原型: speedChangeEnable(ref_force: number) -> nil

int arcs::common_interface::ForceControl::speedChangeTune	(	int	speed_levels,
		double	speed_ratio_min
	)

FCSpdChgTunSet is used to set FC SpeedChange system parameters to a new value.

参数

speed_levels
speed_ratio_min

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: speedChangeTune(self: pyaubo_sdk.ForceControl, arg0: int, arg1: float) -> int

Lua函数原型: speedChangeTune(speed_levels: number, speed_ratio_min: number) -> nil

int arcs::common_interface::ForceControl::toolContact ( const std::vector< bool > & direction )

检测工具和外部物体的接触

参数

direction 预期的接触方向，如果所有的元素为0，表示检测所有方向的接触

返回: 返回从当前点回退到碰撞开始点的周期步数，如果返回值为0，表示没有接触

类成员变量说明

void* arcs::common_interface::ForceControl::d_ { nullptr }

protected

在文件 force_control.h 第 982 行定义.

该类的文档由以下文件生成:

include/aubo/robot/force_control.h

Public 成员函数

Protected 属性

详细描述

构造及析构函数说明

成员函数说明

类成员变量说明