Python:

Pass-Through Force-Position Hybrid Control Compensation Configuration ForcePositionControl

It is used to set the pass-through force-position hybrid control compensation. The following is a detailed description of the member functions of the pass-through force-position hybrid control compensation configuration ForcePositionControl, including the method prototype, parameter description, return value, and usage demo.

Enable pass-through force-position hybrid control compensation moderm_start_force_position_move()

• Method prototype:

rm_start_force_position_move(self) -> int:

• Return value: State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_start_force_position_move())

arm.rm_delete_robot_arm()

Stop pass-through force-position hybrid control compensation moderm_stop_force_position_move()

• Method prototype:

rm_stop_force_position_move(self) -> int:

• Return value: State codes executed by functions

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_stop_force_position_move())

arm.rm_delete_robot_arm()

Pass-through force-position hybrid angle compensation rm_force_position_move_joint()

• Method prototype:

rm_force_position_move_joint(self, joint: list[float], sensor: int, mode: int, dir: int, force: float, follow: bool) -> int:

• Parameter description:

Parameter	Type	Description
joint	list[float]	Target joint angle, in °
sensor	int	Sensor type, 0: 1-DoF force, 1: 6-DoF force
mode	int	Mode, 0: along the base frame, 1: along the end frame
dir	int	Force control direction, 0−5: X/Y/Z/Rx/Ry/Rz. For the 1-DoF force type, the default direction is the Z-axis
force	float	Magnitude of the force, in N
follow	bool	Enable/Disable high follow

• Return value: State codes executed by functions

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

# Control the 2 N force of the 6-DoF force sensor along the Z-axis of the tool frame, and set high follow for the pass-through angle
print(arm.rm_force_position_move_joint([0, 0, 0, 0, 0, 0], 1, 1, 2, 2, True))

arm.rm_delete_robot_arm()

Pass-through force-position hybrid pose compensation rm_force_position_move_pose()

• Method prototype:

rm_force_position_move_pose(self, pose: list[float], sensor: int, mode: int, dir: int, force: float, follow: bool) -> int:

• Parameter description:

Parameter	Type	Description
pose	list[float]	Target pose list in the current frame, with orientation represented by the Euler angle or the quaternion. The orientation is represented by the Euler angle if the list length is 6 or by the orientation if the list length is 7.
sensor	int	Sensor type, 0: 1-DoF force, 1: 6-DoF force.
mode	int	Mode, 0: along the base frame, 1: along the end frame.
dir	int	Force control direction, 0−5: X/Y/Z/Rx/Ry/Rz. For the 1-DoF force type, the default direction is the Z-axis.
force	float	Magnitude of the force, in N.
follow	bool	Enable/Disable high follow.

• Return value: State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

# Get the current pose
ret = arm.rm_get_current_arm_state()
print(f"pose{ret[1]['pose']}")

# Control the 2 N force of the 6-DoF force sensor along the Z-axis of the tool frame, and set high follow for the pass-through pose
print(arm.rm_force_position_move_pose(ret[1]["pose"], 1, 1, 2, 2, True))

arm.rm_delete_robot_arm()

Pass-through force-position hybrid compensation (new parameters) rm_force_position_move()

• Method prototype:

rm_force_position_move(self, param:rm_force_position_move_t) -> int:

• Parameter description:

Parameter	Type	Description
param	rm_force_position_move_t	Pass-through force-position hybrid compensation parameters.

• Return value: State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

joint = [0, 40, 50, 0, 90, 0]
arm.rm_movej(joint, 20, 0, 0, 1)

joint[2] += 0.01
param = rm_force_position_move_t(flag=0, joint=joint, sensor=1, mode=1, follow=False,
                                                 control_mode=[3, 3, 4, 3, 3, 3],
                                                 desired_force=[0, 0, 0, 0, 0, 0],
                                                 limit_vel=[0.1, 0.1, 0.1, 10, 10, 10])
arm.rm_force_position_move(param)                                                 

arm.rm_delete_robot_arm()