Python:
Pass-Through Force-Position Hybrid Compensation Parametersrm_force_position_move_t Parameter description
| Parameter | Type | Description |
|---|---|---|
flag | int | 0: target angle, 1: target pose |
pose | rm_pose_t | Target pose in the current frame, with orientation represented by quaternion/Euler angle. Position accuracy: 0.001 mm, orientation accuracy: 0.001 rad for orientation represented by Euler angle; 0.000001 for orientation represented by quaternion |
joint | List[float] | Target joint angle, unit: °, accuracy: 0.001° |
sensor | int | Sensor, 0: 1-DoF force, 1: 6-DoF force |
mode | int | 0: force control in the base frame, 1: force control in the tool frame |
follow | bool | Driver motion follow, true: high follow, false: low follow |
control_mode | List[int] | 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 |
desired_force | List[float] | 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. |
limit_vel | List[float] | Maximum linear speed and angular speed limits of the force control axis, effective only for the enabled force control direction. |
trajectory_mode | int | high follow mode: 0 represents Full Transparency Mode, 1 represents Curve Fitting Mode, and 2 represents Filtering Mode. |
radio | int | The smoothing factor for Curve Fitting Mode and Filtering Mode (the higher the value, the better the effect), ranging from 0 to 100. |