C, C++:

Force-Position Hybrid Control Parameters rm_force_position_t

Class member variable description

Sensor type sensor

0: 1-DoF force, 1: 6-DoF force.

int rm_force_position_t::sensor

Force frame mode

0: force control in the base frame, 1: force control in the tool frame.

int rm_force_position_t::mode

Force control mode array for each axis control_mode

6-DoF (Fx, Fy, Fz, Mx, My, Mz) mode, 0: fixed mode, 1: float mode, 2: spring mode, 3: motion mode, 4: force tracking mode; 8: force tracking + orientation adaption mode.

int rm_force_position_t::control_mode[6]

Desired force/torque array for each axis desired_force

Desired force/torque maintained by the force control axis. When the force control mode of the axis is the force tracking mode, the desired force/torque setting will take effect, with an accuracy of 0.1 N.

float rm_force_position_t::desired_force[6]

Maximum linear/angular speed limit array for each axis limit_vel

Maximum linear speed and angular speed limits of the force control axis, effective only for the enabled force control direction. The accuracy of the maximum linear speed of axes (x, y, z) is 0.001 m/s, and that of the maximum angular speed of axes (rx, ry, rz) is 0.001 °/s.

float rm_force_position_t::limit_vel[6]