alter_motion (Manual Mode)

After enabling alter motion mode with enable_alter_motion, use alter_motion to apply incremental real-time corrections to the robot’s motion path while it’s actively moving. This allows a human operator to “nudge” or “trim” the TCP position interactively without re-executing a full command.

Typical usage

• Perform orientation corrections (e.g., tool leveling, contact alignment).

• Common in manual welding start-point correction or camera-guided teaching.

Note

• Can only be called while alter motion mode is active.

• Input vector represents [X, Y, Z, Rx, Ry, Rz] in fixed XYZ rotation order.

Example: Incremental TCP Correction During Manual Teaching

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

int main() {
    CDRFLEx drfl;

    // Step 1: Enable alter mode (assume done earlier)
    float fLimitDpos[2] = {5.0f, 3.0f};
    float fLimitDposPer[2] = {0.0f, 0.0f};
    drfl.enable_alter_motion(5, PATH_MODE_DPOS, COORDINATE_SYSTEM_BASE,
                             fLimitDpos, fLimitDposPer);

    // Step 2: Define a correction vector (move downwards)
    float dPos[6] = {0, 0, -0.2f, 0, 0, 0};  // -0.2 mm per cycle

    // Step 3: Apply small corrections in a loop
    for (int i = 0; i < 25; ++i) {
        drfl.alter_motion(dPos);
        std::this_thread::sleep_for(std::chrono::milliseconds(20));
    }

    printf("Manual fine adjustment complete.\n");

    // Step 4: Disable alter mode after completion
    drfl.disable_alter_motion();

    return 0;
}

Tips

• Combine with camera or force feedback for semi-automatic fine-tuning.

• Execute in a separate thread for smoother, continuous correction.

• Use smaller increments (≤0.3 mm) when operating close to surfaces.