release_compliance_ctrl

This function terminates the active compliance control mode and restores the robot to standard position control while maintaining its current position.

Definition
DRFLEx.h within class CDRFLEx, public section (line 950)

bool release_compliance_ctrl() {
    return _release_compliance_ctrl(_rbtCtrl);
};

Parameter
None

Return

Value	Description
0	Failed
1	Success

Example A — Manual Mode (End of Hand-Guiding or Alignment)

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connected and 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) Enable compliance for hand-guiding
    float stiff[6] = {2500.f, 2500.f, 2500.f, 150.f, 150.f, 150.f};
    drfl.task_compliance_ctrl(stiff, COORDINATE_SYSTEM_TOOL, 0.0f);
    printf("Compliance active. Hand-guide the robot.\n");

    // 3) Adjust stiffness during guidance if necessary
    float adjStiff[6] = {1500.f, 1500.f, 1000.f, 100.f, 100.f, 100.f};
    drfl.set_stiffnessx(adjStiff, COORDINATE_SYSTEM_TOOL, 0.4f);

    // 4) Release compliance and return to position control
    if (drfl.release_compliance_ctrl())
        printf("Compliance released. Robot now under position control.\n");
    else
        printf("Failed to release compliance control.\n");

    return 0;
}

Example B — Auto Mode (After Force-Controlled Task)

// Preconditions:
// - Auto mode active
// - Compliance and force control previously enabled

// 1) Perform a compliant insertion motion
float fTarget[6] = {0.f, 0.f, 25.f, 0.f, 0.f, 0.f};
unsigned char dir[6] = {0, 0, 1, 0, 0, 0};
drfl.set_desired_force(fTarget, dir, COORDINATE_SYSTEM_TOOL, 0.3f);

float p_insert[NUM_TASK] = {550.f, 200.f, 95.f, 180.f, 0.f, 0.f};
drfl.movel(p_insert, (float[2]){50.f, 20.f}, (float[2]){200.f, 80.f});
drfl.mwait();

// 2) Release the applied force gradually
drfl.release_force(0.4f);

// 3) Restore position control for the next operation
if (drfl.release_compliance_ctrl())
    printf("Compliance control successfully released.\n");
else
    printf("Compliance release failed.\n");

Notes & Best Practices

Always call release_compliance_ctrl() after completing any force or compliance-based operation.
Recommended sequence: release_force() → release_compliance_ctrl() for smooth and stable recovery.
After release, the robot maintains its current pose and resumes standard servo position control.
To re-enable compliance, call task_compliance_ctrl again with new stiffness parameters.
Use set_stiffnessx before releasing compliance to gradually return stiffness to default levels in Auto mode.