Typically, the use of frame force is the most common. If the axis is non-compliant, the limit specifies the allowed deviation from the original frame in m and rad.įor the simple type force relative to the Tool Feature and with 15 Newtons of force, the script code could look like: force_mode( tool_pose(),, , 2, ) Z and RZ above, the limit is a speed limit in respectively m/s and rad/s. 2 = no transformation, hence use 2 for frame force or simple force. type is an integer describing the transformation of forces, relative to the feature.force is a 6D list of desired forces and torques, e.g.for compliance in Z and RZ relative to the given feature. compliance is a 6D list of 0/1’s of which axis are force compliant, e.g.feature is a pose variable, could typically be tool_pose() if relative to the tool, or any other Feature/refrence frame that the user selects.This article explains a bit more about the force_mode() script command.įorce_mode( feature, compliance, force, type, limits) You can do in the Force Mode GUI node, can also be achieved in URScript, since the GUI node eventually just translates into a few lines of script code.

Vector wrench