Make the stop deceleration of the Simple Force node configurable instead of using a fixed stopl(5.0) (5m/s^2) value.
What is it?
Currently, the Simple Force node generates the following code when exiting force mode:
end_force_mode()
stopl(5.0)
The deceleration value is fixed at 5.0 m/s² and cannot be configured by the user.
The feature request is to expose this value as a configurable parameter in the Simple Force node settings. A possible UI could look as follows (generated by AI):
Default value: 5.0 m/s² (preserves current behaviour)
Generated code (snippet):
end_force_mode()
stopl(<configured_value>)
This request does not require any new URScript functionality. It only exposes a parameter that already exists internally and is currently hardcoded.
Why is it needed?
When exiting force mode, users should be able to control how abruptly the robot decelerates.
Different applications have different requirements. Examples include minimising vibrations, reducing payload oscillations, or achieving a smoother transition from force-controlled motion back to normal robot motion.
E.g.: In our case it is 0.5m/s^2 that made our application smooth, but for other application it might be different values, so making it configurable would get most of it.
Update, I got to know that “Simple Force” has been replaced by “Force Mode” (in 10.13?). I saw, there is more parameters to set, but I don’t really understand their functionality yet:
Maybe the gain will influence Acceleration and Deceleration as well, but maybe it will only influence the speed… If someone knows Im happy to hear about, as we are not updating our robot (is on 10.12.1, and this one still has Simple Force) and test it by ourself soon.
But even if it influences it, I would still prefer a intuitive configurable Deceleration value.
Gain and damping are affecting the control loop of the force feedback. I think it’s similar to a PI control, the Gain affects how big the force response will be based on the measurements, Damping is trying to make the force more stable.
It’s explained also what High and Low values do, like if you put high gain, the moving force response will be quick and big, but also maybe too big and you will drift away from the desired force.
Damping can make this overshoot go back to the desired force and movement, but if you put it too high, it will reach that point too slow. If it’s too low, it may start to “oscillate” around the desired force and location.
Ah I see. So with these explanations, the newly introduced values only affect while within force mode, so while force is regulated, but not when force mode is exited. So then I assume, my initial feature request will remain valid and needed.
