UFactory xArm, Руководство пользователя

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UFACTORY
11
4.
Control
4.1. Control 6 Axis Force Torque Sensor through
Python - SDK
For details on controlling 6 Axis Force Torque Sensor with python - SDK,
please refer to the link below:
https://github.com/xArm - Developer/xArm - Python - SDK/blob/master/ex
ample/wrapper/common/8003 - force_control.py
ft_sensor_enable()：enable force torque sensor
ft_sensor_set_zero()：set the current state to the zero point of the force
torque snesor
ft_sensor_app_set() ：set control mode of the force torque sensor
get_ft_sensor_data()：get the data of the force torque sensor
ft_ext_force：get the data after filtering, load and offset compensation
ft_raw_force：get the raw data of the force torque sensor
4.2. Control 6 Axis Force Torque Sensor through C++ SDK
https://github.com/xArm - Developer/xArm - CPLUS - SDK/blob/master/example/