Set Force Mode Damping
SUMMARY
Set Force Mode Damping configures the damping parameter for force mode. Higher damping absorbs energy faster and produces smoother, more stable force-controlled motion at the cost of reduced compliance responsiveness.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
robot.set_force_mode_damping(damping=0.5)The Code
Example: Set Force Mode Damping to 50%
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
damping = 0.5
robot.set_force_mode_damping(damping=damping)
logger.success(f"Force mode damping set to: {damping}")
# Disconnect
robot.disconnect()The Explanation of the Code
set_force_mode_damping sets the damping factor for the force mode controller. The value must be in [0, 1]: 0 means no damping (the robot reacts quickly but may oscillate), 1 means maximum damping (the robot moves more slowly and stably). This must be called before or at the start of a force mode session to take effect.
How to Tune the Parameters
| Parameter | Type | Default | Description |
|---|---|---|---|
damping | float | — | Damping factor in [0, 1]. 0 = no damping, 1 = maximum damping. |
Return Value
| Return Type | Description |
|---|---|
None | Returns after the damping value is written to the controller. |
Where to Use the Skill
- Tuning force-control stability before a Move in Force Mode session.
- Reducing oscillation during contact tasks.
When Not to Use the Skill
Use gain scaling to tune responsiveness to force errors:
- Use Set Force Mode Gain Scaling to tune the controller's responsiveness to force errors rather than energy dissipation.