Abstract class for force control interface More...

#include <force_control.h>

Public Member Functions
	ForceControl ()

virtual	~ForceControl ()

int	fcEnable ()
	Start force control

int	fcDisable ()
	End force control

bool	isFcEnabled ()
	Check if force control is enabled

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)
	Set force control reference (target) value

int	setDynamicModel1 (const std::vector< double > &env_stiff, const std::vector< double > &damp_scale, const std::vector< double > &stiff_scale)
	Set force control dynamics model

DynamicsModel	fcCalDynamicModel (const std::vector< double > &env_stiff, const std::vector< double > &damp_scale, const std::vector< double > &stiff_scale)
	Calculate force control dynamics model

int	setDynamicModelSearch (const std::vector< double > &damp_scale, const std::vector< double > &stiff_scale)
	Set force control dynamics model for hole searching scenario

int	setDynamicModelInsert (const std::vector< double > &damp_scale, const std::vector< double > &stiff_scale)
	Set force control dynamics model for insertion/extraction scenario

int	setDynamicModelContact (const std::vector< double > &env_stiff, const std::vector< double > &damp_scale, const std::vector< double > &stiff_scale)
	Set force control dynamics model for contact scenario

int	setDynamicModel (const std::vector< double > &m, const std::vector< double > &d, const std::vector< double > &k)
	Set force control dynamics model

int	fcSetSensorThresholds (const std::vector< double > &thresholds)
	Set force control thresholds

int	fcSetSensorLimits (const std::vector< double > &limits)
	Set force control maximum force limits

std::vector< double >	getFcSensorThresholds ()
	Get force control thresholds

std::vector< double >	getFcSensorLimits ()
	Get maximum force limits

DynamicsModel	getDynamicModel ()
	Get force control dynamics model

int	setCondForce (const std::vector< double > &min, const std::vector< double > &max, bool outside, double timeout)
	Set force control termination condition: Force.

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

int	setCondPlane (const std::vector< double > &plane, double timeout)
	Specify a valid force control plane, x-y plane, z direction is valid

int	setCondCylinder (const std::vector< double > &axis, double radius, bool outside, double timeout)
	Specify a valid force control cylinder by providing the central axis and cylinder radius, and specify whether the inside or outside of the cylinder is valid.

int	setCondSphere (const std::vector< double > &center, double radius, bool outside, double timeout)
	Specify a valid force control sphere by providing the center and radius, and specify whether the inside or outside of the sphere is valid.

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

int	setCondDistance (double distance, double timeout)
	Force control termination condition - distance

int	setCondAdvanced (const std::string &type, const std::vector< double > &args, double timeout)
	Advanced force control termination condition

int	setCondActive ()
	Activate force control termination condition

bool	isCondFullfiled ()
	Check if the force control termination condition has been fulfilled

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

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

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

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

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

int	setLpFilter (const std::vector< double > &cutoff_freq)
	Set low-pass filter

int	resetLpFilter ()
	Reset low-pass filter

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

int	speedChangeDisable ()
	Deactivate FC SpeedChange function.

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

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

int	resetDamping ()
	Reset damping parameters

int	softFloatEnable ()
	Enable soft float function.

int	softFloatDisable ()
	Disable soft float function.

bool	isSoftFloatEnabled ()
	Returns whether soft float is enabled

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)
	Set soft float parameters

int	toolContact (const std::vector< bool > &direction)
	Detect contact between the tool and external objects

std::vector< double >	getActualJointPositionsHistory (int steps)

Protected Attributes
void *	d_ { nullptr }

Detailed Description

Abstract class for force control interface

Definition at line 91 of file force_control.h.

Constructor & Destructor Documentation

◆ ForceControl()

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

◆ ~ForceControl()

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

virtual

Member Function Documentation

◆ fcCalDynamicModel()

DynamicsModel arcs::common_interface::ForceControl::fcCalDynamicModel	(	const std::vector< double > &	env_stiff,
		const std::vector< double > &	damp_scale,
		const std::vector< double > &	stiff_scale
	)

Calculate force control dynamics model

Parameters

env_stiff	Environment stiffness, representing the workpiece stiffness in the contact axis direction, range [0, 1], default 0
damp_scale	Parameter representing damping level, range [0, 1], default 0.5
stiff_scale	Parameter representing stiffness level, range [0, 1], default 0.5

Returns: Force control dynamics model MDK AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: fcCalDynamicModel(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: List[float], arg2: List[float]) -> Tuple[List[float], List[float], List[float]]

Lua Function Prototype: fcCalDynamicModel(env_stiff: table, damp_scale: table, stiff_scale: table) -> table

Lua example: fc_table = fcCalDynamicModel({0,0,0,0,0,0},{0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5})

◆ fcDisable()

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.

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: fcDisable(self: pyaubo_sdk.ForceControl) -> int

Lua Function Prototype: fcDisable() -> nil

Lua example: fcDisable()

JSON-RPC Request example: {"jsonrpc":"2.0","method":"rob1.ForceControl.fcDisable","params":[],"id":1}

JSON-RPC Response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ fcEnable()

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.

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: fcEnable(self: pyaubo_sdk.ForceControl) -> int

Lua Function Prototype: fcEnable() -> nil

Lua example: fcEnable()

JSON-RPC Request example: {"jsonrpc":"2.0","method":"rob1.ForceControl.fcEnable","params":[],"id":1}

JSON-RPC Response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ fcSetSensorLimits()

int arcs::common_interface::ForceControl::fcSetSensorLimits ( const std::vector< double > & limits )

Set force control maximum force limits

Parameters

limits Force limits

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: fcSetSensorLimits(self: pyaubo_sdk.ForceControl, arg0: List[float]) -> int

Lua Function Prototype: fcSetSensorLimits(limits: table) -> nil

Lua example: fcSetSensorLimits({200.0,200.0,200.0,50.0,50.0,50.0})

◆ fcSetSensorThresholds()

int arcs::common_interface::ForceControl::fcSetSensorThresholds ( const std::vector< double > & thresholds )

Set force control thresholds

Parameters

thresholds Force control thresholds

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: fcSetSensorThresholds(self: pyaubo_sdk.ForceControl, arg0: List[float]) -> int

Lua Function Prototype: fcSetSensorThresholds(thresholds: table) -> nil

Lua example: fcSetSensorThresholds({1.0,1.0,1.0,0.5,0.5,0.5})

◆ getActualJointPositionsHistory()

std::vector< double > arcs::common_interface::ForceControl::getActualJointPositionsHistory ( int steps )

Get historical joint positions

According to the given number of cycle steps, go back the specified number of cycles from the joint state history to obtain the joint position data at that time.

Parameters

steps Number of cycles to go back (unit: control cycles), the larger the value, the earlier the historical data is obtained

Returns: std::vector<double> Joint positions (unit: radians) at the corresponding time point

◆ getDynamicModel()

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

Get force control dynamics model

Returns: Force control dynamics model

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: getDynamicModel(self: pyaubo_sdk.ForceControl) -> Tuple[List[float], List[float], List[float]]

Lua Function Prototype: getDynamicModel() -> table

Lua example: Fc_Model = getDynamicModel()

JSON-RPC Request example: {"jsonrpc":"2.0","method":"rob1.ForceControl.getDynamicModel","params":[],"id":1}

JSON-RPC Response example: {"id":1,"jsonrpc":"2.0","result":[[],[20.0,20.0,20.0,5.0,5.0,5.0],[]]}

◆ getFcSensorLimits()

std::vector< double > arcs::common_interface::ForceControl::getFcSensorLimits ( )

Get maximum force limits

Returns: Force control maximum force limits

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: getFcSensorLimits(self: pyaubo_sdk.ForceControl) -> list

Lua Function Prototype: getFcSensorLimits() -> table

Lua example: Fc_Limits = getFcSensorLimits()

◆ getFcSensorThresholds()

std::vector< double > arcs::common_interface::ForceControl::getFcSensorThresholds ( )

Get force control thresholds

Returns: Minimum force control thresholds

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: getFcSensorThresholds(self: pyaubo_sdk.ForceControl) -> list

Lua Function Prototype: getFcSensorThresholds() -> table

Lua example: Fc_Thresholds = getFcSensorThresholds()

◆ isCondFullfiled()

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

Check if the force control termination condition has been fulfilled

Returns

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: isCondFullfiled(self: pyaubo_sdk.ForceControl) -> bool

Lua Function Prototype: isCondFullfiled() -> boolean

Lua example: status = isCondFullfiled()

JSON-RPC Request example: {"jsonrpc":"2.0","method":"rob1.ForceControl.isCondFullfiled","params":[],"id":1}

JSON-RPC Response example: {"id":1,"jsonrpc":"2.0","result":false}

◆ isFcEnabled()

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

Check if force control is enabled

Returns: Returns true if enabled, false if disabled

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: isFcEnabled(self: pyaubo_sdk.ForceControl) -> bool

Lua Function Prototype: isFcEnabled() -> boolean

Lua example: Fc_status = isFcEnabled()

JSON-RPC Request example: {"jsonrpc":"2.0","method":"rob1.ForceControl.isFcEnabled","params":[],"id":1}

JSON-RPC Response example: {"id":1,"jsonrpc":"2.0","result":false}

◆ isSoftFloatEnabled()

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

Returns whether soft float is enabled

Returns

Exceptions

arcs::common_interface::AuboException

JSON-RPC Request example: {"jsonrpc":"2.0","method":"rob1.ForceControl.isSoftFloatEnabled","params":[],"id":1}

JSON-RPC Response example: {"id":1,"jsonrpc":"2.0","result":false}

◆ resetDamping()

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

Reset damping parameters

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: resetDamping(self: pyaubo_sdk.ForceControl) -> int

Lua Function Prototype: resetDamping() -> nil

JSON-RPC Request example: {"jsonrpc":"2.0","method":"rob1.ForceControl.resetDamping","params":[],"id":1}

JSON-RPC Response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ resetLpFilter()

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

Reset low-pass filter

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: resetLpFilter(self: pyaubo_sdk.ForceControl) -> int

Lua Function Prototype: resetLpFilter() -> nil

JSON-RPC Request example: {"jsonrpc":"2.0","method":"rob1.ForceControl.resetLpFilter","params":[],"id":1}

JSON-RPC Response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setCondActive()

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

Activate force control termination condition

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: setCondActive(self: pyaubo_sdk.ForceControl) -> int

Lua Function Prototype: setCondActive() -> nil

Lua example: setCondActive()

JSON-RPC Request example: {"jsonrpc":"2.0","method":"rob1.ForceControl.setCondActive","params":[],"id":1}

JSON-RPC Response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setCondAdvanced()

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

Advanced force control termination condition

Parameters

type	Type
args	Arguments
timeout	Timeout

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Lua Function Prototype: setCondAdvanced(type: number, args: table, timeout: number)

Lua example: setCondAdvanced(1, {0,1,0,0,0,0},10)

◆ setCondCylinder()

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

Specify a valid force control cylinder by providing the central axis and cylinder radius, and specify whether the inside or outside of the cylinder is valid.

Parameters

axis
radius
outside
timeout

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

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

Lua Function Prototype: setCondCylinder(axis: table, radius: number, outside: boolean, timeout: number) -> nil

Lua example: setCondCylinder({0,1,0},10.0,true,5,0)

◆ setCondDistance()

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

Force control termination condition - distance

Parameters

distance	Distance
timeout	Timeout

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Lua Function Prototype: setCondDistance(distance: number, timeout: number)

Lua example: setCondDistance(0.2, 10.0)

◆ setCondForce()

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

Set force control termination condition: Force.

When the measured force is within the specified range, the force control algorithm will continue to run until the set condition is not met, at which point force control will exit.

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.

Parameters

min	Minimum force/torque in each direction
max	Maximum force/torque in each direction
outside	false: valid within the specified range true: valid outside the specified range
timeout	Time limit in seconds; when this time is reached from the start of force control, force control will terminate regardless of whether the end condition is met

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

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

Lua Function Prototype: setCondForce(min: table, max: table, outside: boolean, timeout: number) -> nil

Lua example: setCondForce({0.1,0.1,0.1,0.1,0.1,0.1},{50,50,50,5,5,5},{true,true,true,true,true,true},10)

◆ setCondOrient()

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

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

The condition 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).

Parameters

frame
max_angle
max_rot
outside
timeout

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

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

Lua Function Prototype: setCondOrient(frame: table, max_angle: number, max_rot: number, outside: boolean, timeout: number) -> nil

Lua example: setCondOrient({0.1, 0.3, 0.1, 0.3142, 0.0, 1.571},30.0,20.0,true,10.0)

◆ setCondPlane()

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

Specify a valid force control plane, x-y plane, z direction is valid

Parameters

plane={A,B,C,D}	Plane equation: Ax + By + Cz + D = 0 where n = (A, B, C) is the normal vector of the plane, D is the distance required to move the plane to the origin (so D=0 means the plane passes through the origin)
timeout

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: setCondPlane(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: float) -> int

Lua Function Prototype: setCondPlane(plane: table, timeout: number) -> nil

Lua example: setCondPlane({0.1, 0.3, 0.1, 0.3},10.0)

◆ setCondSphere()

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

Specify a valid force control sphere by providing the center and radius, and specify whether the inside or outside of the sphere is valid.

Parameters

center
radius
outside
timeout

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

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

Lua Function Prototype: setCondSphere(center: table, radius: number, outside: boolean, timeout: number) -> nil

Lua example: setCondSphere({0.2, 0.5, 0.1, 1.57, 0, 0},10.0,true,5,0)

◆ setCondTcpSpeed()

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

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

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 speed is outside the specified limits.

A TCP speed condition is set 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 done by using the switch argument Outside. The condition on TCP speed is specified in the work object coordinate system.

Parameters

min
max
outside
timeout

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

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

Lua Function Prototype: setCondTcpSpeed(min: table, max: table, outside: boolean, timeout: number) -> nil

Lua example: setCondTcpSpeed({0.2, 0.2, 0.2, 0.2, 0.2, 0.2},{1.2, 1.2, 1.2, 1.2, 1.2, 1.2},true,5,0)

◆ setDamping()

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

setDamping 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.

Parameters

damping
ramp_time

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: setDamping(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: float) -> int

Lua Function Prototype: setDamping(damping: table, ramp_time: number) -> nil

◆ setDynamicModel()

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

Set force control dynamics model

Parameters

m	Mass parameters
d	Damping parameters
k	Stiffness parameters

Parameter unit description:

Mass:
- Cartesian space: unit is kg, length is 6, order is [x, y, z, Rx, Ry, Rz]
- Joint space: unit is kg·m², length is 6, order is [J1, J2, J3, J4, J5, J6]
Damping:
- Cartesian space: unit is N·s/m, order is [x, y, z, Rx, Ry, Rz]
- Joint space: unit is N·m·s/rad, order is [J1, J2, J3, J4, J5, J6]
Stiffness:
- Cartesian space: unit is N/m, order is [x, y, z, Rx, Ry, Rz]
- Joint space: unit is N·m/rad, order is [J1, J2, J3, J4, J5, J6]

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

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

Lua Function Prototype: setDynamicModel(m: table, d: table, k: table) -> nil

Lua example: setDynamicModel({20.0, 20.0, 20.0, 10.0, 10.0, 10.0},{2000, 0, 0, 0, 0, 0},{0, 0, 0, 0, 0, 0})

◆ setDynamicModel1()

int arcs::common_interface::ForceControl::setDynamicModel1	(	const std::vector< double > &	env_stiff,
		const std::vector< double > &	damp_scale,
		const std::vector< double > &	stiff_scale
	)

Set force control dynamics model

Parameters

env_stiff	Environment stiffness, representing the workpiece stiffness in the contact axis direction, range [0, 1], default 0
damp_scale	Parameter representing damping level, range [0, 1], default 0.5
stiff_scale	Parameter representing stiffness level, range [0, 1], default 0.5

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: setDynamicModel1(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: List[float], arg2: List[float]) -> int

Lua Function Prototype: setDynamicModel1(env_stiff: table, damp_scale: table, stiff_scale: table) -> nil

Lua example: setDynamicModel1({0,0,0,0,0,0},{0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5})

◆ setDynamicModelContact()

int arcs::common_interface::ForceControl::setDynamicModelContact	(	const std::vector< double > &	env_stiff,
		const std::vector< double > &	damp_scale,
		const std::vector< double > &	stiff_scale
	)

Set force control dynamics model for contact scenario

Parameters

env_stiff	Parameter representing environment stiffness, range [0, 1], default 0
damp_scale	Parameter representing damping level, range [0, 1], default 0.5
stiff_scale	Parameter representing stiffness level, range [0, 1], default 0.5

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: setDynamicModelContact(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: List[float], arg2: List[float]) -> int

Lua Function Prototype: setDynamicModelContact(env_stiff: table, damp_scale: table, stiff_scale: table) -> nil

Lua example: setDynamicModelContact({0,0,0,0,0,0},{0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5})

◆ setDynamicModelInsert()

int arcs::common_interface::ForceControl::setDynamicModelInsert	(	const std::vector< double > &	damp_scale,
		const std::vector< double > &	stiff_scale
	)

Set force control dynamics model for insertion/extraction scenario

Parameters

damp_scale	Parameter representing damping level, range [0, 1], default 0.5
stiff_scale	Parameter representing stiffness level, range [0, 1], default 0.5

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: setDynamicModelInsert(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: List[float]) -> int

Lua Function Prototype: setDynamicModelInsert(damp_scale: table, stiff_scale: table) -> nil

Lua example: setDynamicModelInsert({0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5})

◆ setDynamicModelSearch()

int arcs::common_interface::ForceControl::setDynamicModelSearch	(	const std::vector< double > &	damp_scale,
		const std::vector< double > &	stiff_scale
	)

Set force control dynamics model for hole searching scenario

Parameters

damp_scale	Parameter representing damping level, range [0, 1], default 0.5
stiff_scale	Parameter representing stiffness level, range [0, 1], default 0.5

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: setDynamicModelSearch(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: List[float]) -> int

Lua Function Prototype: setDynamicModelSearch(damp_scale: table, stiff_scale: table) -> nil

Lua example: setDynamicModelSearch({0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5})

◆ setLpFilter()

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

Set low-pass filter

— force frame filter: filter measured force/torque +++ force loop filter: filter for force control output reference speed

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

Parameters

cutoff_freq Cutoff frequency

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: setLpFilter(self: pyaubo_sdk.ForceControl, arg0: List[float]) -> int

Lua Function Prototype: setLpFilter(cutoff_freq: table) -> nil

◆ setSoftFloatParams()

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
	)

Set soft float parameters

Parameters

joint_softfloat	Whether to enable soft float in joint space
select	Select which degrees of freedom to enable soft float
stiff_percent	Stiffness percentage
stiff_damp_ratio	Stiffness damping ratio
force_threshold	Force threshold
force_limit	Force limit

Returns: Return 0 if succeeded, otherwise error code

◆ setSupvForce()

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

setSupvForce 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.

Parameters

min
max

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: setSupvForce(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: List[float]) -> int

Lua Function Prototype: setSupvForce(min: table, max: table) -> nil

Lua example: setSupvForce({0.1 ,0.1 ,0.1 ,0.1 ,0.1 ,0.1}, {10.0 ,10.0 ,10.0 ,10.0 ,10.0 ,10.0})

◆ setSupvOrient()

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

setSupvOrient 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.

Parameters

frame
max_angle
max_rot
outside

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

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

Lua Function Prototype: setSupvOrient(frame: table, max_angle: number, max_rot: number, outside: boolean) -> nil

◆ setSupvPosBox()

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

setSupvPosBox 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.

Parameters

frame
box

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

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

Lua Function Prototype: setSupvPosBox(frame: table, box: table) -> nil

◆ setSupvPosCylinder()

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

Parameters

frame
cylinder

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

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

Lua Function Prototype: setSupvPosCylinder(frame: table, cylinder: table) -> nil

◆ setSupvPosSphere()

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

Parameters

frame
sphere

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

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

Lua Function Prototype: setSupvPosSphere(frame: table, sphere: table) -> nil

◆ setSupvReoriSpeed()

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

setSupvReoriSpeed 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 too 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 axis and a small axis rotation may result in a high speed movement of the TCP.

Parameters

speed_limit
outside
timeout

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

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

Lua Function Prototype: setSupvReoriSpeed(speed_limit: table, outside: boolean, timeout: number) -> nil

◆ setSupvTcpSpeed()

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

setSupvTcpSpeed 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 axis and a small axis rotation may result in a high speed movement of the TCP.

Parameters

speed_limit
outside
timeout

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

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

Lua Function Prototype: setSupvTcpSpeed(speed_limit: table, outside: boolean, timeout: number) -> nil

◆ setTargetForce()

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`
	)

Set force control reference (target) value

Parameters

feature	Reference geometric feature for generating force control reference frame
compliance	Compliance axis (direction) selection
wrench	Target force/torque
limits	Velocity limits
type	Force control reference frame type

Usage Examples:

Base Coordinate Frame: feature = {0,0,0,0,0,0} type = TaskFrameType::NONE
Flange Coordinate Frame: feature = {0,0,0,0,0,0} type = TaskFrameType::TOOL_FORCE
TCP Coordinate Frame: feature = tcp_offset type = TaskFrameType::TOOL_FORCE
User Coordinate Frame (FRAME_FORCE): type = TaskFrameType::FRAME_FORCE feature should be the user-defined reference frame, for example, getTcpPose() means setting the force control frame to current TCP pose.

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

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

Lua Function Prototype: setTargetForce(feature: table, compliance: table, wrench: table, limits: table, type: number) -> nil

Lua example: setTargetForce({0,0,0,0,0,0},{true,false,false,false,false,false},{10,0,0,0,0,0},{0,0,0,0,0,0},4)

◆ softFloatDisable()

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

Disable soft float function.

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

JSON-RPC Request example: {"jsonrpc":"2.0","method":"rob1.ForceControl.softFloatDisable","params":[],"id":1}

JSON-RPC Response example: {"id":1,"jsonrpc":"2.0","result":-1}

◆ softFloatEnable()

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

Enable soft float function.

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

JSON-RPC Request example: {"jsonrpc":"2.0","method":"rob1.ForceControl.softFloatEnable","params":[],"id":1}

JSON-RPC Response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ speedChangeDisable()

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

Deactivate FC SpeedChange function.

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: speedChangeDisable(self: pyaubo_sdk.ForceControl) -> int

Lua Function Prototype: speedChangeDisable() -> nil

JSON-RPC Request example: {"jsonrpc":"2.0","method":"rob1.ForceControl.speedChangeDisable","params":[],"id":1}

JSON-RPC Response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ speedChangeEnable()

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

The speedChangeEnable 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.

Parameters

ref_force

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: speedChangeEnable(self: pyaubo_sdk.ForceControl, arg0: float) -> int

Lua Function Prototype: speedChangeEnable(ref_force: number) -> nil

◆ speedChangeTune()

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

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

Parameters

speed_levels
speed_ratio_min

Returns: Return 0 if succeeded; return error code if failed AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python Function Prototype: speedChangeTune(self: pyaubo_sdk.ForceControl, arg0: int, arg1: float) -> int

Lua Function Prototype: speedChangeTune(speed_levels: number, speed_ratio_min: number) -> nil

◆ toolContact()

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

Detect contact between the tool and external objects

Parameters

direction Expected contact direction. If all elements are 0, detect contact in all directions.

Returns: Returns the number of cycle steps back from the current point to the collision start point. If the return value is 0, no contact is detected.

Member Data Documentation

◆ d_

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

protected

Definition at line 2568 of file force_control.h.

The documentation for this class was generated from the following file:

include/aubo/robot/force_control.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ForceControl()

◆ ~ForceControl()

Member Function Documentation

◆ fcCalDynamicModel()

◆ fcDisable()

◆ fcEnable()

◆ fcSetSensorLimits()

◆ fcSetSensorThresholds()

◆ getActualJointPositionsHistory()

◆ getDynamicModel()

◆ getFcSensorLimits()

◆ getFcSensorThresholds()

◆ isCondFullfiled()

◆ isFcEnabled()

◆ isSoftFloatEnabled()

◆ resetDamping()

◆ resetLpFilter()

◆ setCondActive()

◆ setCondAdvanced()

◆ setCondCylinder()

◆ setCondDistance()

◆ setCondForce()

◆ setCondOrient()

◆ setCondPlane()

◆ setCondSphere()

◆ setCondTcpSpeed()

◆ setDamping()

◆ setDynamicModel()

◆ setDynamicModel1()

◆ setDynamicModelContact()

◆ setDynamicModelInsert()

◆ setDynamicModelSearch()

◆ setLpFilter()

◆ setSoftFloatParams()

◆ setSupvForce()

◆ setSupvOrient()

◆ setSupvPosBox()

◆ setSupvPosCylinder()

◆ setSupvPosSphere()

◆ setSupvReoriSpeed()

◆ setSupvTcpSpeed()

◆ setTargetForce()

◆ softFloatDisable()

◆ softFloatEnable()

◆ speedChangeDisable()

◆ speedChangeEnable()

◆ speedChangeTune()

◆ toolContact()

Member Data Documentation

◆ d_