Rethink Robotics Sawyer, Original Instructions Manual, Page: 116 / 220

109
Intera 5.3
Force Sensing and Selective Arm Stiffness
more the arm will comply to its environment. Force or torque limits define how strongly the endpoint
can push to reach the set position.
To define compliance:
1. Add a Force Parent node that instructs Intera 5 to go into Interaction control, a
combination of both robot position and force control.
2. Add a Contact node.
3. Set a pose by clicking on + Arm pose in the node inspector.
4. Specify Sawyer's stiffness in relation to either the Base Frame or the Active End-
point Frame by entering a value in the x,y, and/or z boxes set to Stiffness mode.
(The maximum stiffness value in any axis is 1300.)
For example, if you wanted to make the arm extremely compliant along the z axis relative to the end
effector, you would select the Active Endpoint Frame as the relative frame and enter 0 for z
translation (illustrated below).
The forces/stiffness where the axis is grayed out are set to the default value. Once a value is
modified, the axis cell will change color.
5. Click Go To at top of the node inspector.