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

// 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");

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.