For information on the latest version, please have a look at GL013301.
release_compliance_ctrl (Auto Mode)
This section explains how to use release_compliance_ctrl during Auto (Run) operations to terminate compliance control and return the robot to standard position control mode.
It is typically used after performing tasks requiring compliance, such as force-controlled assembly or surface fitting, to transition back to standard motion commands in automated processes.
Typical usage
Exit compliance or force-control mode after completing an automated task, such as assembly or insertion.
Restore position control for subsequent automated motion commands.
Maintain the robot’s current pose after compliance release during automated sequences.
Safely finalize automated tasks, ensuring the robot is in position control mode.
Note
No input parameters are required.
Use after any compliance or force-control task to revert to position control in automated operations.
Once released, the robot will hold its current position under standard motion mode.
Example: Restoring Position Control After Compliance in Automated Process
#include "DRFLEx.h"
#include <cstdio>
using namespace DRAFramework;
int main() {
CDRFLEx drfl;
// Preconditions:
// - Connection established
// - Auto mode active, servo ON
// 1) Move to initial pose in AUTO mode
float q0[6] = {0.0f, 0.0f, 90.0f, 0.0f, 90.0f, 0.0f};
drfl.movej(q0, 60, 30);
drfl.mwait();
// 2) Activate compliance control for automated task (e.g., assembly)
float stiffBase[6] = {3000.f, 3000.f, 3000.f, 200.f, 200.f, 200.f};
drfl.task_compliance_ctrl(stiffBase, COORDINATE_SYSTEM_TOOL, 0.0f);
// 3) Perform an automated process (e.g., insertion or fitting)
// (Assume process logic here)
// 4) Release compliance control and return to position control mode
if (drfl.release_compliance_ctrl())
printf("Compliance control released — robot now under position control.\n");
else
printf("Failed to release compliance control.\n");
return 0;
}
In this example, compliance control is activated for an automated task (e.g., assembly or insertion), and then released to resume position-controlled operation. This allows the robot to maintain its current pose once compliance mode is terminated during automated processes.
Tips
Always call this function after completing compliance or force-based tasks in automated systems.
Use it before transitioning to new automated motion tasks or starting a new automated cycle.
To re-enable compliance control, call task_compliance_ctrl again.
Combine with set_stiffnessx for smooth stiffness transitions in automated operations.
Ensure the robot is stationary or in a controlled position before releasing compliance to avoid sudden movements during automation.