com.kuka.roboticsAPI.conditionModel
Class ForceComponentCondition

java.lang.Object
  com.kuka.roboticsAPI.conditionModel.AbstractCondition
      com.kuka.roboticsAPI.conditionModel.RobotCondition
          com.kuka.roboticsAPI.conditionModel.ForceComponentCondition

All Implemented Interfaces:

ICondition

public class ForceComponentCondition
extends RobotCondition

ForceComponentCondition can check if the signed value of one Cartesian component of the measured force exceeds a specified interval. The orientation of the coordinate system for the measurement can also be freely chosen.

The condition fires and the state is TRUE if (F <= min) OR (F >= max) depending on the specified tolerance.

Constructor Summary

ForceComponentCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis coordinateAxis, double min, double max)
Creates a new instance of ForceComponentCondition.

ForceComponentCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis coordinateAxis, double min, double max, double tolerance)
Creates a new instance of ForceComponentCondition.

ForceComponentCondition(AbstractFrame measureFrame, CoordinateAxis coordinateAxis, double min, double max)
Creates a new instance of ForceComponentCondition.

ForceComponentCondition(AbstractFrame measureFrame, CoordinateAxis coordinateAxis, double min, double max, double tolerance)
Creates a new instance of ForceComponentCondition.

Method Summary

CoordinateAxis	getCoordinateAxis() Gets the Cartesian coordinate axis that specifies the component of the measured force vector that will be considered in the evaluation.
double	getMax()
AbstractFrame	getMeasureFrame() Gets the frame where the measurement will take place.
double	getMin()
AbstractFrame	getOrientationFrame() Gets the orientationFrame frame that specifies the orientation of the coordinate axes used in this condition.
double	getTolerance() Gets the tolerance value which is used as an estimator for the maximum allowed measurement inaccuracy.
String	toString()

Methods inherited from class com.kuka.roboticsAPI.conditionModel.RobotCondition

getController, getRobot, setRobot

Methods inherited from class com.kuka.roboticsAPI.conditionModel.AbstractCondition

and, invert, or, xor

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

ForceComponentCondition

public ForceComponentCondition(AbstractFrame measureFrame,
                               CoordinateAxis coordinateAxis,
                               double min,
                               double max)

Creates a new instance of ForceComponentCondition. The condition fires if the signed value of one Cartesian component of the measured force exceeds the specified range.

This condition has a default value for measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities. The ForceCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.

Parameters:

measureFrame - The frame where the measurement will take place. At motion execution, this frame must be statically attached to a device which can measure forces (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.

coordinateAxis - The Cartesian coordinate axis that specifies the component of the measured force vector that will be considered in the evaluation. Must not be null.

min - The minimum of the range to check for the signed force value in [N]. Can be negative, must be < max.

max - The maximum of the range to check for the signed force value in [N]. Can be negative, must be > min.

Throws:

IllegalArgumentException - if the above conditions are violated

ForceComponentCondition

public ForceComponentCondition(AbstractFrame measureFrame,
                               AbstractFrame orientationFrame,
                               CoordinateAxis coordinateAxis,
                               double min,
                               double max)

Creates a new instance of ForceComponentCondition. The condition fires if the signed value of one Cartesian component of the measured force exceeds the specified range.

This condition has a default value for measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities. The ForceCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.

Parameters:

measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure forces (such as an LBR). If an orientationFrame is given, the orientation of measureFrame will be ignored.
If measureFrame is set to null, the frame that is currently moved is used.

orientationFrame - Optional frame that specifies the orientation of the coordinate axes used in this condition. Must be a frame that has a static transformation to World. If orientationFrame is set to null, the orientation of measureFrame is used.

coordinateAxis - The Cartesian coordinate axis that specifies the component of the measured force vector that will be considered in the evaluation. Must not be null.

min - The minimum of the range to check for the signed force value in [N]. Can be negative, must be < max.

max - The maximum of the range to check for the signed force value in [N]. Can be negative, must be > min.

Throws:

IllegalArgumentException - if the above conditions are violated

ForceComponentCondition

public ForceComponentCondition(AbstractFrame measureFrame,
                               CoordinateAxis coordinateAxis,
                               double min,
                               double max,
                               double tolerance)

Creates a new instance of ForceComponentCondition. The condition fires if the signed value of one Cartesian component of the measured force exceeds the specified range.
Use this constructor if a tolerance other than the default value (= 10) is required.

Parameters:

measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure forces (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.

coordinateAxis - The Cartesian coordinate axis that specifies the component of the measured force vector that will be considered in the evaluation. Must not be null.

min - The minimum of the range to check for the signed force value in [N]. Can be negative, must be < max.

max - The maximum of the range to check for the signed force value in [N]. Can be negative, must be > min.

tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities.
The force condition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.
Only positive values should be used. A common value is 10.

Throws:

IllegalArgumentException - if the above conditions are violated

ForceComponentCondition

public ForceComponentCondition(AbstractFrame measureFrame,
                               AbstractFrame orientationFrame,
                               CoordinateAxis coordinateAxis,
                               double min,
                               double max,
                               double tolerance)

Creates a new instance of ForceComponentCondition. The condition fires if the signed value of one Cartesian component of the measured force exceeds the specified range.
Use this constructor if a tolerance other than the default value (= 10) is required.

Parameters:

measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure forces (such as an LBR). If an orientationFrame is given, the orientation of measureFrame will be ignored.
If measureFrame is set to null, the frame that is currently moved is used.

orientationFrame - Optional frame that specifies the orientation of the coordinate axes used in this condition. Must be a frame that has a static transformation to World. If orientationFrame is set to null, the orientation of measureFrame is used.

coordinateAxis - The Cartesian coordinate axis that specifies the component of the measured force vector that will be considered in the evaluation. Must not be null.

min - The minimum of the range to check for the signed force value in [N]. Can be negative, must be < max.

max - The maximum of the range to check for the signed force value in [N]. Can be negative, must be > min.

tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities.
The force condition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.
Only positive values should be used. A common value is 10.

Throws:

IllegalArgumentException - if the above conditions are violated

Method Detail

getMeasureFrame

public AbstractFrame getMeasureFrame()

Gets the frame where the measurement will take place. This frame is statically attached to a device which can measure forces (such as an LBR). If an orientationFrame is given, the orientation of this frame will be ignored.
Can be null if the frame that is currently moved is used.

Returns:

The measurement frame.

getTolerance

public double getTolerance()

Gets the tolerance value which is used as an estimator for the maximum allowed measurement inaccuracy.

Returns:

The tolerance value.

getOrientationFrame

public AbstractFrame getOrientationFrame()

Gets the orientationFrame frame that specifies the orientation of the coordinate axes used in this condition. If null, the orientation of the measurement frame is used.

Returns:

The orientation frame.

getCoordinateAxis

public CoordinateAxis getCoordinateAxis()

Gets the Cartesian coordinate axis that specifies the component of the measured force vector that will be considered in the evaluation.

Returns:

The Cartesian coordinate axis of this condition.

getMin

public double getMin()

Returns:

Get the minimum value of the allowed force interval in [N].

getMax

public double getMax()

Returns:

Get the maximum value of the allowed force interval in [N].

toString

public String toString()

Overrides:

toString in class Object