Adaptive Assembly

Search

SlideSpiral

Primitive Description and Usage

• Description: This primitive provides a force-search mechanism to find the hole in peg-in-hole assembly tasks. Specifically, it allows users to command the robot to search within a circular area along an increasingly dense spiral trajectory on a surface while maintaining a certain contact force.

• Example Usage: Use this primitive prior to peg-in-hole assembly tasks.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
contactAxis	Contact (force control) direction in TCP coordinate system, which should be along one of TCP’s principal axes	VEC_3d	none	0.0 0.0 1.0
searchAxis	Search direction in TCP coordinate system, which should be perpendicular to the contact axis	VEC_3d	none	1.0 0.0 0.0
contactForce	Contact force when searching on the surface	DOUBLE	N	5 ∈ [5 … 20]
radius	Searching area radius; when payload or contact surface friction/resistance is high, this value might be slightly smaller than its nominal value.	DOUBLE	m	0.015 ∈ [0.001 … 0.015]
startDensity	Number of times the geometry pattern will be drawn in the start cycle	INT	none	2 ∈ [1 … 5]
timeFactor	Time factor for how long it takes for TCP to form a pattern. Caution: 1. Small time factor for a large searching radius may cause the robot to exceed its capabilities and stop. 2. In Manual mode, this factor is approximately doubled regardless of the speed percentage.	INT	none	2 ∈ [1 … 10]
wiggleRange	TCP wiggle range along the contact axis to find the right angle during searching. Caution: If this parameter is set to a large value, make sure to increase the wigglePeriod, otherwise, the robot may exceed its capabilities.	DOUBLE	deg	0 ∈ [0 … 90]
wigglePeriod	Time period for TCP to wiggle along the contact axis back and forth once. Caution: 1. Setting this value too small will likely cause the robot exceeding its capabilities and stop, especially when the wiggle motion is not along the Z-axis of the robot flange. 2. In Manual mode, this factor is approximately doubled regardless of the speed percentage.	DOUBLE	s	0.3 ∈ [0.2 … 30]
randomFactor	Factor of the randomness added to the slide searching trajectory	DOUBLE	none	0 ∈ [0 … 1]
searchImmed	Start searching immediately without waiting for contact force to reach its set value	BOOL	none	1 ∈ [0 / 1]
searchStiffRatio	Factor of the stiffness during searching motion. Caution: Setting this value too small, the robot may not follow the search trajectory very well, especially when the surface friction or contact force is very large.	DOUBLE	none	1 ∈ [0.1 … 1]
maxVelForceDir	Maximum movement velocity along force control direction	DOUBLE	m/s	0.1 ∈ [0.005 … 0.5]

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
searchResisForce	Feedback force during searching motion, which could indicate the collision or resistance.	DOUBLE	N
pushDis	Pushed distance of TCP into the surface, which could signal a successful find.	DOUBLE	m
forceDrop	Dropped value from the set contact force. Caution: this state will not be reliable if input parameter searchImmed is set to TRUE.	DOUBLE	N
lostContact	Flag to indicate the loss of contact. This flag will only be switched on when the forces detected on all X, Y, Z, Rx, Ry, Rz axes are smaller than 1N or 1Nm for 1.5 consecutive seconds.	BOOL	none

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
pushDistance	>	0.005

SlideZigzag

Primitive Description and Usage

• Description: This primitive provides a force-search mechanism to find the hole in peg-in-hole assembly tasks. Specifically, it allows users to command the robot to search within a rectangular area along an increasingly dense zigzag trajectory on a surface while maintaining a certain contact force.

• Example Usage: Use this primitive prior to peg-in-hole assembly tasks.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
contactAxis	Contact (force control) direction in TCP coordinate system, which should be along one of TCP’s principal axes	VEC_3d	none	0.0 0.0 1.0
searchAxis	Search direction in TCP coordinate system, which should be perpendicular to the contact axis	VEC_3d	none	1.0 0.0 0.0
contactForce	Contact force when searching on the surface	DOUBLE	N	5 ∈ [5 … 20]
length	Searching area length along the search axis; when payload or contact surface friction/resistance is high, this value might be slightly smaller than its nominal value.	DOUBLE	m	0.03 ∈ [0.001 … 0.03]
width	Searching area width perpendicular to the search and contact axis; when payload or contact surface friction/resistance is high, this value might be slightly smaller than its nominal value.	DOUBLE	m	0.03 ∈ [0.001 … 0.03]
startDensity	Number of times the geometry pattern will be drawn in the start cycle	INT	none	2 ∈ [1 … 5]
timeFactor	Time factor for how long it takes for TCP to form a pattern. Caution: 1. Small time factor for a large searching radius may cause the robot to exceed its capabilities and stop. 2. In Manual mode, this factor is approximately doubled regardless of the speed percentage.	INT	none	2 ∈ [1 … 10]
wiggleRange	TCP wiggle range along the contact axis to find the right angle during searching. Caution: If this parameter is set to a large value, make sure to increase the wigglePeriod, otherwise, the robot may exceed its capabilities	DOUBLE	deg	0 ∈ [0 … 90]
wigglePeriod	Time period for TCP to wiggle along the contact axis back and forth once. Caution: 1. Setting this value too small will likely cause the robot exceeding its capabilities and stop, especially when the wiggle motion is not along the Z-axis of the robot flange. 2. In Manual mode, this factor is approximately doubled regardless of the speed percentage.	DOUBLE	s	0.3 ∈ [0.2 … 30]
randomFactor	Factor of the randomness added to the slide searching trajectory	DOUBLE	none	0 ∈ [0 … 1]
searchImmed	Start searching immediately without waiting for contact force to reach its set value	BOOL	none	1 ∈ [0 / 1]
searchStiffRatio	Factor of the stiffness during searching motion. Caution: Setting this value too small, the robot may not follow the search trajectory very well, especially when the surface friction or contact force is very large.	DOUBLE	none	1 ∈ [0.1 … 1]
maxVelForceDir	Maximum movement velocity along force control direction	DOUBLE	m/s	0.1 ∈ [0.005 … 0.5]

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
searchResisForce	Feedback force during searching motion, which could indicate the collision or resistance.	DOUBLE	N
pushDis	Pushed distance of TCP into the surface, which could signal a successful find.	DOUBLE	m
forceDrop	Dropped value from the set contact force. Caution: this state will not be reliable if input parameter searchImmed is set to TRUE.	DOUBLE	N
lostContact	Flag to indicate the loss of contact. This flag will only be switched on when the forces detected on all X, Y, Z, Rx, Ry, Rz axes are smaller than 1N or 1Nm for 1.5 consecutive seconds.	BOOL	none

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
pushDistance	>	0.005

CheckPih

Primitive Description and Usage

• Description: This primitive helps check if a peg is already in a hole. Users can specify a contact axis and a search axis perpendicular to the contact axis, and a companion axis will be generated to form a frame. The robot will move toward the +searchAxis, -searchAxis, -companionAxis, +companionAxis. While moving along these axes, if the robot goes over the limit specified by searchRange, the primitive will terminate and the state parameter pegIsInHole will be set to false; if the robot encounters a force greater than searchForce along all these directions during the process, the primitive will terminate and pegIsInHole will be set to true.

• Example Usage: Use this primitive to check if a peg-in-hole operation is completed.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
contactAxis	Force control direction in TCP coordinate system, which should be along one of TCP’s principal axes	VEC_3d	none	0.0 0.0 1.0
searchAxis	Search direction in TCP coordinate system, which should be perpendicular to the contact axis	VEC_3d	none	1.0 0.0 0.0
searchRange	Range within which the robot will make forward, backward, left, and right search motions	DOUBLE	m	0.01 ∈ [0.001 … 0.1]
searchForce	Force threshold to detect if the robot can move along the searching direction. Robot will move along the next motion direction when detected force is greater than this value.	DOUBLE	N	3 ∈ [2 … 20]
searchVel	TCP linear velocity for the searching motion	DOUBLE	m/s	0.01 ∈ [0.001 … 0.1]
linearSearchOnly	Flag to indicate if the robot only searches linearly in the direction of +searchAxis and -searchAxis	BOOL	none	0 ∈ [0 / 1]

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
pegIsInHole	Flag to indicate if the peg is already in the hole	BOOL	none
checkComplete	Flag to indicate if the peg-in-hole check is complete	BOOL	none

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg
initTcpPose	Initial TCP pose when plan runs into this primitive	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
checkComplete	=	1

Peg-in-Hole

PihSpiral

Primitive Description and Usage

• Description: This primitive provides a peg-in-hole strategy that uses repeated spiral trajectories and hybrid force/motion control to find and insert a peg in a hole within a circular area.

• Example Usage: Use this primitive to handle environmental uncertainties in peg-in-hole assembly tasks where the peg position errors are too large for traditional position-based control methods to handle.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
contactVel	TCP linear velocity while moving to contact	DOUBLE	m/s	0.01 ∈ [0.001 … 0.1]
contactAxis	Contact (force control) direction in TCP coordinate system, which should be along one of TCP’s principal axes	VEC_3d	none	0.0 0.0 1.0
searchAxis	Search direction in TCP coordinate system, which should be perpendicular to the contact axis	VEC_3d	none	1.0 0.0 0.0
contactForce	Contact force when searching on the surface	DOUBLE	N	8 ∈ [5 … 20]
pushDis	Pushed distance of TCP into the surface, which could signal a successful find.	DOUBLE	m	0.005 ∈ [0.002 … 0.02]
radius	Searching area radius; when payload or contact surface friction/resistance is high, this value might be slightly smaller than its nominal value.	DOUBLE	m	0.015 ∈ [0.001 … 0.015]
timeFactor	Time factor for how long it takes for TCP to form a pattern. Caution: 1. Small time factor for a large searching radius may cause the robot to exceed its capabilities and stop. 2. In Manual mode, this factor is approximately doubled regardless of the speed percentage.	INT	none	2 ∈ [1 … 10]
wiggleRange	TCP wiggle range along the contact axis to find the right angle during searching. Caution: If this parameter is set to a large value, make sure to increase the wigglePeriod, otherwise, the robot may exceed its capabilities.	DOUBLE	deg	0 ∈ [0 … 10]
wigglePeriod	Time period for TCP to wiggle along the contact axis back and forth once. Caution: 1. Setting this value too small will likely cause the robot exceeding its capabilities and stop, especially when the wiggle motion is not along the Z-axis of the robot flange. 2. In Manual mode, this factor is approximately doubled regardless of the speed percentage.	DOUBLE	s	0.3 ∈ [0.2 … 9]
startDensity	Number of times the geometry pattern will be drawn in the start cycle	INT	none	2 ∈ [1 … 5]
randomFactor	Factor of the randomness added to the slide searching trajectory	DOUBLE	none	0 ∈ [0 … 1]

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
terminated	=	1

PihZigzag

Primitive Description and Usage

• Description: This primitive provides a peg-in-hole strategy that uses repeated zigzag trajectories and hybrid force/motion control to find and insert a peg in a hole within a rectangular area.

• Example Usage: Use this primitive to handle environmental uncertainties in peg-in-hole assembly tasks where the peg position errors are too large for traditional position-based control methods to handle.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
contactVel	TCP linear velocity while moving to contact	DOUBLE	m/s	0.01 ∈ [0.001 … 0.1]
contactAxis	Contact (force control) direction in TCP coordinate system, which should be along one of TCP’s principal axes	VEC_3d	none	0.0 0.0 1.0
searchAxis	Search direction in TCP coordinate system, which should be perpendicular to the contact axis	VEC_3d	none	1.0 0.0 0.0
contactForce	Contact force when searching on the surface	DOUBLE	N	8 ∈ [5 … 20]
pushDis	Pushed distance of TCP into the surface, which could signal a successful find.	DOUBLE	m	0.005 ∈ [0.002 … 0.02]
length	Searching area length along the search axis; when payload or contact surface friction/resistance is high, this value might be slightly smaller than its nominal value.	DOUBLE	m	0.03 ∈ [0.001 … 0.03]
width	Searching area width perpendicular to the search and contact axis; when payload or contact surface friction/resistance is high, this value might be slightly smaller than its nominal value.	DOUBLE	m	0.03 ∈ [0.001 … 0.03]
timeFactor	Time factor for how long it takes for TCP to form a pattern. Caution: 1. Small time factor for a large searching radius may cause the robot to exceed its capabilities and stop. 2. In Manual mode, this factor is approximately doubled regardless of the speed percentage.	INT	none	2 ∈ [1 … 10]
wiggleRange	TCP wiggle range along the contact axis to find the right angle during searching. Caution: If this parameter is set to a large value, make sure to increase the wigglePeriod, otherwise, the robot may exceed its capabilities	DOUBLE	deg	0 ∈ [0 … 10]
wigglePeriod	Time period for TCP to wiggle along the contact axis back and forth once. Caution: 1. Setting this value too small will likely cause the robot exceeding its capabilities and stop, especially when the wiggle motion is not along the Z-axis of the robot flange. 2. In manual mode, this factor is approximately doubled regardless of the speed percentage.	DOUBLE	s	0.3 ∈ [0.2 … 9]
startDensity	Number of times the geometry pattern will be drawn in the start cycle	INT	none	2 ∈ [1 … 5]
randomFactor	Factor of the randomness added to the slide searching trajectory	DOUBLE	none	0 ∈ [0 … 1]

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
terminated	=	1

Sleeve

Primitive Description and Usage

• Description: This primitive moves the robot in a predefined insertion direction until the total external force reaches a set value. The robot then adjusts its position and orientation in all directions except the insertion direction (as long as the external force in the corresponding direction exceeds the deadband). During the adjustment, the robot will stop the insertion motion.

• Example Usage: Use this primitive in fine assembly tasks such as gearbox assembly, peg-in-hole assembly, or in machine tending applications like putting a sleeve (a hollow cylinder) on a shaft.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
insertAxis*	Insertion direction in TCP coordinate system	TYPE	none	[X -X Y -Y Z -Z]
compAxis	Force compliance axes in TCP coordinate system. The robot performs compliant motion along the axis whose value is set to 1. For example, (0,1,0,1,0,0) means that the robot executes compliant motion at Y and Rx axis of TCP coordinate.	VEC_6i	none	0 0 0 0 0 0 ∈ [0 0 0 0 0 0 … 1 1 1 1 1 1]
compForceLimit	Compliant force limit. Robot automatically adjusts TCP position and orientation to be compliant with this force.	DOUBLE	N	5 ∈ [1 … 120]
deadbandScale	Deadband scale of applied alignment wrench. The robot only performs compliant motion when the external wrench is higher than this deadband. 0 means no deadband.	DOUBLE	none	50 ∈ [10 … 100]
insertVel	TCP Linear velocity in insertion direction	DOUBLE	m/s	0.01 ∈ [0.001 … 0.1]
compVelScale	Velocity scale of compliant motion. Higher velocity scale results in faster but less stable compliant motion.	DOUBLE	none	20 ∈ [10 … 100]

*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
insertDis	Robot moving distance in the insertion direction	DOUBLE	m
isMoving	Flag to indicate if robot is still moving	BOOL	none

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
isMoving	=	0

Mating

MatingSlide

Primitive Description and Usage

• Description: This primitive uses hybrid motion/force control to repeatedly move the robot along a line trajectory while applying a certain force in a specific direction.

• Example Usage: Use this primitive to assist parts mating operations in assembly applications.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
matingAxis	Sliding direction in TCP coordinate system, which should be perpendicular to the force control axis.	VEC_3d	none	0 1 0
forceAxis	Force control direction in TCP coordinate system, which should be perpendicular to the motion direction.	VEC_3d	none	0 0 1
matingRange	Sliding motion range	DOUBLE	m	0.1 ∈ [0.001 … 0.35]
matingVel	TCP linear velocity during sliding motion	DOUBLE	m/s	0.1 ∈ [0.001 … 0.5]
matingTimes	Total number of mating times. Caution: If set to 0, the robot performs ONLY forward motion once.	INT	none	1 ∈ [0 … 1000]
matingForce	Target mating force	DOUBLE	N	15 ∈ [5 … 50]
matingAcc	TCP linear acceleration during sliding motion	DOUBLE	m/s^2	1.0 ∈ [0.1 … 2.5]
safetyForce	Safety force limit during mating. The primitive will be terminated when the feedback force exceeds this value.	DOUBLE	N	50.0 ∈ [20 … 80]
safetyForceDis	Maximum moving distance along force control axis. The primitive will be terminated when the moving distance exceeds this value.	DOUBLE	m	0.05 ∈ [0.005 … 0.5]
maxVelForceDir	Maximum movement velocity along force control direction. It constrains the robot’s speed in cases where the robot suddenly loses contact with the environment. Note that if its value is set too small, the robot’s force control performance may degrade.	DOUBLE	m/s	0.5 ∈ [0.002 … 0.5]

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
matingFinish	Flag to indicate if the mating process is finished	BOOL	none

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
matingFinished	=	1

MatingRub

Primitive Description and Usage

• Description: This primitive uses hybrid motion/force control to repeatedly rotate the robot TCP along a fixed axis while applying a certain force in a specific direction.

• Example Usage: Use this primitive to assist parts mating operations in assembly applications.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
matingAxis	Rubbing motion direction in TCP coordinate system, which should be perpendicular to the force control axis.	VEC_3d	none	1 0 0
forceAxis	Force control direction in TCP coordinate system, which should be perpendicular to the motion direction.	VEC_3d	none	0 0 1
matingRange	Rubbing motion range	DOUBLE	deg	10 ∈ [1 … 60]
matingAngVel	TCP angular velocity during mating motion	DOUBLE	deg/s	10 ∈ [1.0 … 60.0]
matingAngAcc	TCP angular acceleration during mating motion	DOUBLE	deg/s^2	180 ∈ [5 … 500]
matingTimes	Total number of mating times. Caution: If set to 0, the robot performs ONLY forward motion once.	INT	none	1 ∈ [0 … 1000]
matingForce	Target mating force	DOUBLE	N	15 ∈ [1 … 50]
safetyForce	Safety force limit during mating. The primitive will be terminated when the feedback force exceeds this value.	DOUBLE	N	50.0 ∈ [20 … 80]
safetyForceDis	Maximum moving distance along force control direction. The primitive will be terminated when the moving distance exceeds this value.	DOUBLE	m	0.05 ∈ [0.001 … 0.5]
maxVelForceDir	Maximum movement velocity along force control direction. It constrains the robot’s speed in cases where the robot suddenly loses contact with the environment. Note that if its value is set too small, the robot’s force control performance may degrade.	DOUBLE	m/s	0.5 ∈ [0.001 … 0.5]

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
matingFinish	Flag to indicate if the mating process is finished	BOOL	none

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
matingFinished	=	1

MatingSlideZigzag

Primitive Description and Usage

• Description: This primitive uses hybrid motion/force control to repeatedly move the robot along a zigzag trajectory (raster) while applying a certain force in a specific direction.

• Example Usage: Use this primitive to assist parts mating operations in assembly applications.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
matingAxis	Sliding direction in TCP coordinate system, which should be perpendicular to the force control axis.	VEC_3d	none	0 1 0
forceAxis	Force control direction in TCP coordinate system, which should be perpendicular to the motion direction.	VEC_3d	none	0 0 1
matingRange	Sliding motion range	DOUBLE	m	0.1 ∈ [0.001 … 0.35]
matingVel	TCP linear velocity during sliding motion	DOUBLE	m/s	0.1 ∈ [0.001 … 0.5]
matingTimes	Total number of mating times. Caution: If set to 0, the robot performs ONLY forward motion once.	INT	none	1 ∈ [0 … 1000]
matingForce	Target mating force	DOUBLE	N	15 ∈ [5 … 50]
matingAcc	TCP linear acceleration during sliding motion	DOUBLE	m/s^2	1.0 ∈ [0.1 … 2.5]
safetyForce	Safety force limit during mating. The primitive will be terminated when the feedback force exceeds this value.	DOUBLE	N	50.0 ∈ [20 … 80]
safetyForceDis	Maximum moving distance along force control direction. The primitive will be terminated when the moving distance exceeds this value.	DOUBLE	m	0.05 ∈ [0.005 … 0.5]
rasterRange	Raster range along the raster slide direction	DOUBLE	m	0.05 ∈ [0.001 … 0.1]
rasterVel	TCP Linear velocity along the raster trajectory	DOUBLE	m/s	0.1 ∈ [0.001 … 0.5]
rasterAcc	TCP Linear acceleration along the raster trajectory	DOUBLE	m/s^2	1.0 ∈ [0.1 … 2.5]
rasterDir	Raster slide direction in TCP coordinate system	VEC_3d	none	1 0 0
maxVelForceDir	Maximum movement velocity along force control direction. It constrains the robot’s speed in cases where the robot suddenly loses contact with the environment. Note that if its value is set too small, the robot’s force control performance may degrade.	DOUBLE	m/s	0.5 ∈ [0.001 … 0.5]

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
matingFinish	Flag to indicate if the mating process is finished	BOOL	none

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
matingFinished	=	1

Fastening

FastenScrewExtFeed

Primitive Description and Usage

• Description: This primitive helps the robot complete the whole screw fastening task through the following steps:1. Pick up the screw from the external feeder. 2. Move the screw gun to the top of the screw hole. 3. Fasten the screw into the screw hole.

• Example Usage: Use this primitive to fasten the screws when screws are fed from the external feeder.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
insertDir	Screw insertion direction in TCP coordinate system	TYPE	none	Z ∈ [X -X Y -Y Z -Z]
maxInsertVel	Maximum screw insertion velocity into the screw hole	DOUBLE	m/s	0.01 ∈ [0.001 … 0.05]
insertForce	Screw insertion force during fastening process	DOUBLE	N	20 ∈ [10 … 50]
stiffScale	Robot stiffness scale while fastening the screw. Lower scale applies higher motion compliance.	DOUBLE	none	0.5 ∈ [0.1 … 1]
screwPickPose*	TCP pose at the screw picking position	COORD	m-deg	[traj_start* world*]
pickContactVel	Linear velocity to move robot until the screw gun contacts the screw	DOUBLE	m/s	0.02 ∈ [0.001 … 0.1]
maxPickContactForce	Maximum contact force to pick up screw. The primitive will be terminated when external force exceeds this limit.	DOUBLE	N	5.0 ∈ [1.0 … 120]
transPoints	Waypoints from screw picking position to screw fastening position	ARRAY_COORD	m-deg	[traj_start* traj_goal* traj_prev* world*]
vel	TCP linear velocity	DOUBLE	m/s	0.02 ∈ [0.0005 … 2.2]
acc	TCP linear acceleration	DOUBLE	m/s^2	1.5 ∈ [0.1 … 3.0]
jerk	TCP linear jerk	DOUBLE	m/s^3	200.0 ∈ [50.0 … 1500.0]
zoneRadius	Blending zone radius while TCP approximating the waypoints	TYPE	mm	Z50 ∈ [ZFine Z1 Z5 Z10 Z15 Z20 Z30 Z40 Z50 Z60 Z80 Z100 Z150 Z200]
screwFastenPose*	TCP pose at the screw fastening position	COORD	m-deg	[traj_start* world*]
fastenContactVel	Linear velocity to move the robot until the screw contacts the screw hole	DOUBLE	m/s	0.02 ∈ [0.001 … 0.1]
maxFastenContactForce	Maximum force when screw contacts the surface. The primitive will be terminated when external force exceeds this limit.	DOUBLE	N	5.0 ∈ [1.0 … 120]
diScrewInHole	Digital input port receiving the signal which indicates the screw has been tightened a bit into the screw hole	TYPE	none	NONE ∈ [NONE, gpioIn0 … gpioIn15, modbusIn0 … modbusIn15]
diFastenFinish	Digital input port receiving the signal which indicates the screw fastening process is finished	TYPE	none	NONE ∈ [NONE, gpioIn0 … gpioIn15, modbusIn0 … modbusIn15]
diFastenFailed	Digital input port receiving the signal which indicates the screw fastening process is failed	TYPE	none	NONE ∈ [NONE, gpioIn0 … gpioIn15, modbusIn0 … modbusIn15]

*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.

*Coordinate System Definition

Coordinate	Definition	Value Format
world	WORLD coordinate system, which is a fixed Cartesian coordinate system located at the center of the robot base	X Y Z Rx Ry Rz WORLD WORLD_ORIGIN
work	WORK coordinate system, which defines the position of the workpiece relative to the WORLD coordiante system	X Y Z Rx Ry Rz WORK WorkCoordName
tcp	TCP coordinate system, which is located at the Tool Center Point relative to the center of robot flange	X Y Z Rx Ry Rz TCP ONELINE
tcp_start	The fixed coordinate system which is located at the inital TCP pose of the primitive	X Y Z Rx Ry Rz TCP START
traj_start	The offset of a waypoint relative to the initial TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ START
traj_goal	The offset of a waypoint relative to the target TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ GOAL
traj_prev	The offset of a waypoint relative to the previous waypoint in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ PREVIOUSWAYPOINT

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
terminated	=	1

FastenScrewAutoFeed

Primitive Description and Usage

• Description: This primitive helps the robot complete the whole screw fastening task through the following steps:1. Feed in the screw through an automatic feeding system. 2. Move the screw gun to the top of the screw hole. 3. Search the screw hole(Optional). 4. Fasten the screw into the screw hole.

• Example Usage: Use this primitive to fasten the screws when screws are fed through an automatic feeding system.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
insertDir	Screw insertion direction in TCP coordinate system	TYPE	none	Z ∈ [X -X Y -Y Z -Z]
maxInsertVel	Maximum screw insertion velocity into the screw hole	DOUBLE	m/s	0.01 ∈ [0.001 … 0.05]
insertForce	Screw insertion force during fastening process	DOUBLE	N	20 ∈ [10 … 50]
stiffScale	Robot stiffness scale while fastening the screw. Lower scale applies higher motion compliance.	DOUBLE	none	0.5 ∈ [0.1 … 1]
screwFastenPose*	TCP pose at the screw fastening position	COORD	m-deg	[traj_start* world*]
screwApproachVel	Linear velocity to approach the screw fastening position	DOUBLE	m/s	0.2 ∈ [0.001 … 1.5]
fastenContactVel	Linear velocity to move the robot until the screw contacts the screw hole	DOUBLE	m/s	0.02 ∈ [0.001 … 0.1]
maxFastenContactForce	Maximum force when screw contacts the surface. The primitive will be terminated when external force exceeds this limit.	DOUBLE	N	5.0 ∈ [1.0 … 120]
enableSearchHole	Enable searching motion to search screw hole	BOOL	none	0 ∈ [0 / 1]
contactAxis	Contact (force control) direction in TCP coordinate system, which should be along one of TCP’s principal axes.	VEC_3d	none	0.0 0.0 1.0
searchAxis	Search direction in TCP coordinate system, which should be perpendicular to the contact axis.	VEC_3d	none	1.0 0.0 0.0
contactForce	Contact force when searching on the surface	DOUBLE	N	5 ∈ [5 … 20]
searchRadius	Searching area radius	DOUBLE	m	0.015 ∈ [0.0002 … 0.015]
pushDis	Pushed distance of screw into the surface, which is used to judge whether the hole is successfully found	DOUBLE	m	0.005 ∈ [0.002 … 0.02]
timeFactor	Time factor for how long it takes for TCP to form a pattern. Caution: 1. Small time factor for a large searching radius may cause the robot to exceed its capabilities and stop. 2. In manual mode, this factor is doubled regardless of the speed percentage.	INT	none	2 ∈ [1 … 10]
startDensity	Number of times the geometry pattern will be drawn in the start cycle	INT	none	2 ∈ [1 … 5]
randomFactor	Factor of the randomness added to the slide searching trajectory	DOUBLE	none	0 ∈ [0 … 1]
diScrewInHole	Digital input port receiving the signal which indicates the screw has been tightened a bit into the screw hole	TYPE	none	NONE ∈ [NONE, gpioIn0 … gpioIn15, modbusIn0 … modbusIn15]
diFastenFinish	Digital input port receiving the signal which indicates the screw fastening process is finished	TYPE	none	NONE ∈ [NONE, gpioIn0 … gpioIn15, modbusIn0 … modbusIn15]
diFastenFailed	Digital input port receiving the signal which indicates the screw fastening process is failed	TYPE	none	NONE ∈ [NONE, gpioIn0 … gpioIn15, modbusIn0 … modbusIn15]

*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.

*Coordinate System Definition

Coordinate	Definition	Value Format
world	WORLD coordinate system, which is a fixed Cartesian coordinate system located at the center of the robot base	X Y Z Rx Ry Rz WORLD WORLD_ORIGIN
work	WORK coordinate system, which defines the position of the workpiece relative to the WORLD coordiante system	X Y Z Rx Ry Rz WORK WorkCoordName
tcp	TCP coordinate system, which is located at the Tool Center Point relative to the center of robot flange	X Y Z Rx Ry Rz TCP ONELINE
tcp_start	The fixed coordinate system which is located at the inital TCP pose of the primitive	X Y Z Rx Ry Rz TCP START
traj_start	The offset of a waypoint relative to the initial TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ START
traj_goal	The offset of a waypoint relative to the target TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ GOAL
traj_prev	The offset of a waypoint relative to the previous waypoint in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ PREVIOUSWAYPOINT

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
terminated	=	1

FastenScrew

Primitive Description and Usage

• Description: This primitive is applicable to screw fastening tasks. During the fastening process, the robot maintains contact with objects along the insertion direction while performing compliant motion in other directions.

• Example Usage: Use this primitive to fasten the screws in assembly applications.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
insertDir	Screw insertion direction in TCP coordinate system	TYPE	none	Z ∈ [X -X Y -Y Z -Z]
maxInsertVel	Maximum screw insertion velocity into the screw hole	DOUBLE	m/s	0.01 ∈ [0.001 … 0.05]
insertForce	Screw insertion force during fastening process	DOUBLE	N	20 ∈ [10 … 50]
stiffScale	Robot stiffness scale while fastening the screw. Lower scale applies higher motion compliance.	DOUBLE	none	0.5 ∈ [0.1 … 1]
diScrewInHole	Digital input port which receives the signal from screw gun, indicating that screw has been tightened a bit into the screw hole.	TYPE	none	NONE ∈ [NONE, gpioIn0 … gpioIn15, modbusIn0 … modbusIn15]
diFastenFinish	Digital input port which receives the signal from screw gun, indicating that screw has been totally tightened.	TYPE	none	NONE ∈ [NONE, gpioIn0 … gpioIn15, modbusIn0 … modbusIn15]
diScrewJam	Digital input port which receives the signal from screw gun, indicating that screw has been jammed.	TYPE	none	NONE ∈ [NONE, gpioIn0 … gpioIn15, modbusIn0 … modbusIn15]

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
insertDis	Screw insertion distance into the screw hole	DOUBLE	m
insertVel	Screw insertion velocity into the screw hole	DOUBLE	m/s
fastenState	Screw fastening state: 0 means default state; 1 means screw has been tightened a bit into the screw hole; 2 means screw has been totally tightened; -1 means screw has been jammed.	INT	none
reachedHole	Flag to indicate screw has reached full contact with screw hole	BOOL	none

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
fastenState	=	2