Zero Gravity Floating

FloatingCartesian

FloatingCartesian

Description: This primitive enables the robot TCP to float in zero gravity in Cartesian space. If an external force is applied to the robot, the robot TCP will move according to the force applied.
Example Usage: Use this primitive to adapt the robot to external forces in zero gravity prior to performing subsequent actions.

Input Parameter	Description	Type	Unit	Default Value & Range
floatingAxis	Axes that allow floating in the floating coordinate system. 1 means floating is allowed; 0 means floating is not allowed.	VEC_6i	none	1 1 1 1 1 1 ∈ [0 0 0 0 0 0 … 1 1 1 1 1 1]
enableElbowMotion	Flag to indicate if elbow motion is allowed during robot floating	BOOL	none	0 ∈ [0 / 1]
floatingCoord	Reference coordinate system for robot floating	COORD	m-deg	0 0 0 0 0 0 TCP START ∈ [world* tcp* tcp_start*]
dampingLevel	Damping level of the robot during floating. The lower the damping level, the easier it is for the robot to be moved by the external force.	VEC_6d	none	0 0 0 0 0 0 ∈ [0 0 0 0 0 0 … 100 100 100 100 100 100]
diEnableFloating	Digital input port that enables floating. The robot can only be moved by the external force if this signal is ON.	TYPE	none	NONE ∈ [NONE, gpioIn0 … gpioIn15, modbusIn0 … modbusIn15]
responseTorque	External floating joint torque that the robot will respond to. If the external joint torque is lower than this value, the robot will not be moved by the external force.	VEC_7d	Nm	1.5 1.5 1.5 1.5 0.5 0.5 0.3 ∈ [0.0 0.0 0.0 0.0 0.0 0.0 0.0 … 3.0 3.0 3.0 3.0 3.0 3.0 3.0]
inertiaScale	The scaling ratio of the desired inertia. The smaller the value, the easier it is for the robot to be dragged, but the robot may vibrate during the process.	VEC_6d	none	1 1 1 1 1 1 ∈ [0.75 0.75 0.75 0.5 0.5 0.5 … 1 1 1 1 1 1]

*Coordinate System Definition

Coordinate	Definition	Value Format
world	WORLD coordinate system, which is a fixed Cartesian coordinate system located at the center of the robot base	X Y Z Rx Ry Rz WORLD WORLD_ORIGIN
work	WORK coordinate system, which defines the position of the workpiece relative to the WORLD coordinate system	X Y Z Rx Ry Rz WORK WorkCoordName
tcp	TCP coordinate system, which is located at the Tool Center Point relative to the center of robot flange	X Y Z Rx Ry Rz TCP ONLINE
tcp_start	The fixed coordinate system which is located at the initial TCP pose of the primitive	X Y Z Rx Ry Rz TCP START
traj_start	The offset of a waypoint relative to the initial TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ START
traj_goal	The offset of a waypoint relative to the target TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ GOAL
traj_prev	The offset of a waypoint relative to the previous waypoint in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ PREVIOUSWAYPOINT

You can use the simplified value format above to describe a waypoint, while the complete description of a Cartesian waypoint is: X Y Z Rx Ry Rz ReferenceCoordinate A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the preferred joint positions of the robot; X1 to X6 are the target positions of external axes. The additional data can be added if necessary.
Add “:” to separate the waypoints. For example: 0.2 0 0.3 0 180 0 WORLD WORLD_ORIGIN : 0.2 0.1 0.3 0 180 0 WORLD WORLD_ORIGIN.

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
idleTime	The amount of time floating has not been performed on the robot. It can be used as a transition condition to terminate this primitive.	DOUBLE	s

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

State Parameter	Condition	Value
idleTime	>	10.0

FloatingJoint

Description: This primitive enables the robot joints to float in zero gravity in joint space. If an external force is applied to the robot, the robot joints will move according to the force applied.
Example Usage: Use this primitive to adapt the robot to external forces in zero gravity prior to performing subsequent actions.

Input Parameter	Description	Type	Unit	Default Value & Range
floatingJoint	Joints that allow floating. 1 means floating is allowed; 0 means floating is not allowed.	VEC_7d	none	1.0 1.0 1.0 1.0 1.0 1.0 1.0 ∈ [0.0 0.0 0.0 0.0 0.0 0.0 0.0 … 1.0 1.0 1.0 1.0 1.0 1.0 1.0]
dampingLevel	Damping level of the robot during floating. The lower the damping level, the easier it is for the robot to be moved by the external force.	VEC_7d	none	0 0 0 0 0 0 0 ∈ [0 0 0 0 0 0 0 … 100 100 100 100 100 100 100]
responseTorque	External floating joint torque that the robot will respond to. If the external joint torque is lower than this value, the robot will not be moved by the external force.	VEC_7d	Nm	1.5 1.5 1.5 1.5 0.5 0.5 0.3 ∈ [0.0 0.0 0.0 0.0 0.0 0.0 0.0 … 3.0 3.0 3.0 3.0 3.0 3.0 3.0]
diEnableFloating	Digital input port that enables floating. The robot can only be moved by the external force if this signal is ON.	TYPE	none	NONE ∈ [NONE, gpioIn0 … gpioIn15, modbusIn0 … modbusIn15]
inertiaScale	The scaling ratio of the desired inertia. The smaller the value, the easier it is for the robot to be dragged, but the robot may vibrate during the process.	VEC_7d	none	1 1 1 1 1 1 1 ∈ [0.75 0.75 0.75 0.65 0.65 0.5 0.5 … 1 1 1 1 1 1 1]

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
idleTime	The amount of time floating has not been performed on the robot. It can be used as a transition condition to terminate this primitive.	DOUBLE	s

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

State Parameter	Condition	Value
idleTime	>	10.0