2.1. SoftJoint program structure

2.1. SoftJoint program structure

 

The SoftJoint function makes it possible for individual axes of the robot to work like a virtual spring for an external force applied on the robot. As this function works through software, there is no need for additional hardware, such as a force/torque sensor, in using it.

 

2.1.1. Summary of functions

2.1.2. Caution