Lock orientations during freedrive

URCap Development URCaps SDK
1

I would like to know if it’s possibile to limit the number the degrees of freedom of the robot while guiding the robot using the freedrive mode. I need to develop an URCaps where the user has to define 3 robot pose but I’d like to “lock” the orientation of the robot TCP and constraint the TCP’s movements to line on a defined plane.
I exploit the API uiapi.getUserInteraction().getUserDefinedRobotPosition(new RobotPositionCallback() {[...]} to get the robot pose, but I can’t find a way to limit the available movements during the freedrive.

Thank you in advance for your reply.

sc

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2

Hi,

there is no way to do so with the API. If you are using a e-Series robot or have an external FT Sensor, you can create this function by your own by calculating a force vector with the FT sensor and turn this vector into cartesian movement using the servoj command.

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Thank you very much for your reply.