Features
This service defines the target force, direction, translation time, and mode for force control based on the global coordinate.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
Fd |
float64[6] |
[0, 0, 0, 0, 0, 0] |
Three translational target forces Three rotational target moments |
|
dir |
int8[6] |
[0, 0, 0, 0, 0, 0] |
Force control in the corresponding direction if 1 Compliance control in the corresponding direction if 0 |
|
ref |
int8 |
1 |
MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_TOOL=1 MOVE_REFERENCE_WORLD=2 MOVE_REFERENCE_USER=101~120 |
|
time |
float64 |
0.0 |
Transition time of target force to take effect [sec] Range: 0 - 1.0 |
|
mod |
int8 |
0 |
FORCE_MODE_ABSOLUTE(0): Force control with absolute value FORCE_MODE_RELATIVE(1): force control with relative value to initial state (the instance when this function is called) |
Return
|
Return Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
success |
bool |
- |
True or False |