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.