force_control.h File Reference

#include <vector>
#include <thread>
#include <aubo/global_config.h>
#include <aubo/type_def.h>

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Classes
class	arcs::common_interface::ForceControl
	Abstract class for force control interface More...

Namespaces
namespace	arcs
namespace	arcs::common_interface

Typedefs
using	arcs::common_interface::ForceControlPtr = std::shared_ptr< ForceControl >

Detailed Description

Force control interface

Force control limitations When the robot is force controlled, the following functionality is not accessible:

• Collision Detection (option 613-1)
• SoftMove (option 885-1)
• Tracking functionality like Conveyor Tracking (option 606-1), Optical Tracking (6601) and Weld Guide (815-2)
• Sensor Synchronization or Analog Synchronization
• World Zones (option 608-1)
• Independent Axes (option 610-1)
• Path Offset (option 612-1)
• Arc options
• PickMaster options
• Joint soft servo (instruction SoftAct)
• Force Control cannot be activated when the robot is running in MultiMove Coordinated mode (option 604-1).
• If Force Control is used together with SafeMove (option 810-2) or Electronic Position Switches (option 810-1), the function Operational Safety Range must be used. See the respective manual for these options.
• RAPID instructions such as FCAct, FCDeact, FCConditionWaitWhile and FCRefStop can only be called from normal level in a motion task.

Applications: polishing, grinding, cleaning
FC Pressure
Set the z direction of the trajectory coordinate system as the force control axis, set spring to 0
Before contact, set output force to 0, spring to a fixed value (determined by vel)
Leaving the contact surface: set output force to 0, spring to a fixed value
Piston assembly
Forward clutch hub
Set force control termination mode

Drag teaching based on end force sensor
spring = 0; force_ref = 0; reference trajectory point arbitrary

Definition in file force_control.h.