check_orientation_condition_abs (Manual Mode)

This function evaluates the orientation difference between the current tool pose and the target pose along a specified axis. It determines whether the angular deviation lies within the defined minimum and maximum thresholds.

Internally, the controller computes the rotational difference using the “Angle/Axis” method, where the rotation vector expresses the shortest angular path between the current and target orientations.

This function is commonly used to verify precise tool orientation during fine alignment, insertion, or assembly tasks. For example, setting only the Rx axis allows checking the rotation offset around the X-axis, while ignoring the other rotational components.

Typical usage

• Use fTargetMin to check if the angular offset is greater than or equal to a specified threshold.

• Use fTargetMax to check if the angular offset is less than or equal to a specified threshold.

• Set both fTargetMin and fTargetMax to check if the current angular deviation is within range.

• Apply this function for tasks like alignment verification, fine rotational adjustments, and insertion tasks.

Note

• The function uses the Angle/Axis method for computing the rotational difference, ensuring minimal rotational distance.

• If eForceReference = COORDINATE_SYSTEM_TOOL, define the target orientation in BASE coordinates.

• The angular deviation is measured in degrees or radians, depending on the configuration of the system.

Example

#include "DRFLEx.h"
#include <cstdio>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;
    // Preconditions: Connected, servo ON, Manual (Teach) mode active

    // Define target orientation range around Rx–Ry–Rz axes
    float minOri[6] = {0.f, 0.f, 0.f, -10.f, -10.f, -10.f};
    float maxOri[6] = {0.f, 0.f, 0.f, 10.f, 10.f, 10.f};

    // Check orientation deviation around Rz in TOOL coordinate
    bool cond = drfl.check_orientation_condition(FORCE_AXIS_Z, minOri, maxOri, COORDINATE_SYSTEM_TOOL);

    printf("Orientation within range: %s\n", cond ? "TRUE" : "FALSE");
    return 0;
}

In this example, the function checks whether the current tool orientation lies within ±10° of the target orientation around the Z-axis (Rz) within the TOOL coordinate frame.

Tips

• Use this function to ensure alignment accuracy before task execution, especially for tasks requiring precise rotation.

• Combine with check_position_condition to validate both position and orientation simultaneously.

• The angle units (deg or rad) are based on the system’s configuration settings, so check the system settings beforehand.

• This function is particularly useful in peg-in-hole, screw insertion, and teaching correction tasks, where precise rotational alignment is crucial.