com.kuka.roboticsAPI.conditionModel
Class TorqueComponentCondition

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

All Implemented Interfaces:

ICondition

public class TorqueComponentCondition
extends RobotCondition

TorqueComponentCondition can check if the signed value of one Cartesian component (A, B, C) of the measured moment (torque) exceeds a specified interval. A is the torque around the Z-axis,
B is around the Y-axis and
C around the X-axis.
The sign is given by the “right hand rule”.
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

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

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

TorqueComponentCondition(AbstractFrame measureFrame, CoordinateAxis component, double min, double max)
Creates a new instance of TorqueComponentCondition.

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

Method Summary

CoordinateAxis	getCoordinateAxis() Gets the Cartesian component around which the torque is measured and 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

TorqueComponentCondition

public TorqueComponentCondition(AbstractFrame measureFrame,
                                CoordinateAxis component,
                                double min,
                                double max)

Creates a new instance of TorqueComponentCondition. The condition fires if the signed value of one Cartesian component of the measured torque 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 CartesianTorqueCondition 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 torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.

component - The Cartesian component that is monitored; the constant denotes the axis, around which the torque is measured. A, B, C reflects the KUKA convention for specifying the orientations: A is the torque around the Z-axis, B is around the Y-axis and C around the X-axis. The sign is given by the “right hand rule”.

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

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

TorqueComponentCondition

public TorqueComponentCondition(AbstractFrame measureFrame,
                                AbstractFrame orientationFrame,
                                CoordinateAxis component,
                                double min,
                                double max)

Creates a new instance of TorqueComponentCondition. The condition fires if the signed value of one Cartesian component of the measured torque 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 CartesianTorqueCondition 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 torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.

orientationFrame - Optional rotation to specify the orientation of the measurement coordinate system independently from the TCP orientation. Must be a frame that has a static transformation to World. If orientationFrame is set to null, the orientation of measureFrame is used.

component - The Cartesian component that is monitored; the constant denotes the axis, around which the torque is measured. A, B, C reflects the KUKA convention for specifying the orientations: A is the torque around the Z-axis, B is around the Y-axis and C around the X-axis. The sign is given by the “right hand rule”.

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

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

TorqueComponentCondition

public TorqueComponentCondition(AbstractFrame measureFrame,
                                CoordinateAxis component,
                                double min,
                                double max,
                                double tolerance)

Creates a new instance of TorqueComponentCondition. The condition fires if the signed value of one Cartesian component of the measured torque 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 torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.

component - The Cartesian component that is monitored; the constant denotes the axis, around which the torque is measured. A, B, C reflects the KUKA convention for specifying the orientations: A is the torque around the Z-axis, B is around the Y-axis and C around the X-axis. The sign is given by the “right hand rule”.

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

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

tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy in [Nm]. The quality of the measurement depends on the current robot pose, and declines near singularities.
The torque 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.

TorqueComponentCondition

public TorqueComponentCondition(AbstractFrame measureFrame,
                                AbstractFrame orientationFrame,
                                CoordinateAxis component,
                                double min,
                                double max,
                                double tolerance)

Creates a new instance of TorqueComponentCondition. The condition fires if the signed value of one Cartesian component of the measured torque 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 torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.

orientationFrame - Optional rotation to specify the orientation of the measurement coordinate system independently from the TCP orientation. Must be a frame that has a static transformation to World. If orientationFrame is set to null, the orientation of measureFrame is used.

component - The Cartesian component that is monitored; the constant denotes the axis, around which the torque is measured. A, B, C reflects the KUKA convention for specifying the orientations: A is the torque around the Z-axis, B is around the Y-axis and C around the X-axis. The sign is given by the “right hand rule”.

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

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

tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy in newtown metre. The quality of the measurement depends on the current robot pose, and declines near singularities.
The torque 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.

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 torque (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 component around which the torque is measured and considered in the evaluation.

Returns:

The Cartesian coordinate axis of this condition.

getMin

public double getMin()

Returns:

Get the minimum value of the allowed torque interval in [Nm].

getMax

public double getMax()

Returns:

Get the maximum value of the allowed torque interval in [Nm].

toString

public String toString()

Overrides:

toString in class Object