For information on the latest version, please have a look at GL013301.
release_compliance_ctrl (Manual Mode)
This section explains how to use release_compliance_ctrl during Manual (Teach) operations to terminate compliance control and return the robot to standard position control mode. It is typically used after completing hand-guiding, force-tuned alignment, or compliant interaction tasks during teaching.
Typical usage
Exit compliance or force-control mode after teaching or calibration.
Restore position control for subsequent jogging or motion commands.
Maintain the robot’s current pose after compliance release.
Safely finalize manual contact tasks such as surface alignment or assembly fitting.
Note
Use after any compliance or force-control task to revert to position control.
Once released, the robot will hold its current position under standard motion mode.
Example: Restore Position Control After Compliance Adjustment
#include "DRFLEx.h"
#include <cstdio>
using namespace DRAFramework;
int main() {
CDRFLEx drfl;
// Preconditions:
// - Connection established, servo ON
// - Manual (Teach) mode active
// 1) Move to initial pose
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
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) Adjust stiffness values
float stiffAdj[6] = {1000.f, 1500.f, 2000.f, 150.f, 150.f, 150.f};
drfl.set_stiffnessx(stiffAdj, COORDINATE_SYSTEM_TOOL, 0.5f);
// 4) End compliance control and return to position control
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 first activated for stiffness adjustment, then released to resume position-controlled operation. The robot maintains its current pose once compliance mode is terminated.
Tips
Always call this function after completing compliance or force tasks.
Use it before starting new motion or teaching sequences.
To re-enable compliance control, call task_compliance_ctrl again.
Combine with set_stiffnessx for smooth stiffness transitions.
Ensure the robot is stationary before releasing to prevent sudden movements.