force_control.h 文件参考

力控接口 更多...

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

force_control.h 的引用(Include)关系图:

此图展示该文件直接或间接的被哪些文件引用了:

浏览源代码.

类
class	arcs::common_interface::ForceControl
	力控接口抽象类 更多...

命名空间
	arcs
	arcs::common_interface

宏定义
#define	ForceControl_DECLARES

类型定义
using	arcs::common_interface::ForceControlPtr = std::shared_ptr< ForceControl >

详细描述

力控接口

力控的限制 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.

应用：抛光、打磨、清洁
FC Pressure
设置轨迹坐标系的z方向为力控轴，spring设置为0
在还没接触前设置输出力为0，spring设置为固定值(根据vel确定)
离开接触面：设置输出力为0，spring设置为固定值
活塞(Piston)装配
Forward clutch hub
设置力控终止模式

基于末端力传感器的拖动示教
spring = 0; force_ref = 0; 参考轨迹点任意

在文件 force_control.h 中定义.

宏定义说明

#define ForceControl_DECLARES

在文件 force_control.h 第 987 行定义.