com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds
Class ElasticityCompensationModule

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent
      com.kuka.roboticsAPI.controllerModel.sunrise.api.Module
          com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.ElasticityCompensationModule

All Implemented Interfaces:

com.kuka.common.IDataEquatable, IExpressionSegment, ISprComponent, ISegment

public class ElasticityCompensationModule
extends Module

Elasticity compensation module.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

Constructor Summary

ElasticityCompensationModule()
Constructor.

Method Summary

void	configure(Robot device, LoadData loadData)
OutPort	getAxisQAccCmdEKOAb()
InPort	getAxisQCmd()
OutPort	getAxisQCmdEKOAb()
OutPort	getAxisQCmdEKOAn()
OutPort	getAxisQCmdEKODelta()
OutPort	getAxisQSpeedCmdEKOAb()
OutPort	getAxisQSpeedCmdEKOAn()
OutPort	getAxisTorqueCmd()
InPort	getLoadParams()
OutPort	getStiffness()

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.Module

getComponentType, getComponentVersion

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent

addInPort, addInPort, addOutPort, addOutPort, addParameter, getChecksum, getExpressionSegmentString, getInPort, getInPorts, getInstanceName, getName, getOutPort, getOutPorts, getParameter, getParameterList, getSPR, hasSameDataAs, onAsyncEvent, onFinished, onInitialize, onSerialization, onSPRStateChanged, onSPRStateChangedSync, setInstanceName, setName, toString, tryGetParameter

Methods inherited from class java.lang.Object

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

Constructor Detail

ElasticityCompensationModule

public ElasticityCompensationModule()

Constructor.

Method Detail

configure

public void configure(Robot device,
                      LoadData loadData)

Parameters:

device - the device

loadData - load data for robot flange

getAxisQCmd

public InPort getAxisQCmd()

Returns:

Commanded angles in rad.

getLoadParams

public InPort getLoadParams()

Returns:

Commanded (T1m) load_params from the observer

getAxisQCmdEKOAn

public OutPort getAxisQCmdEKOAn()

Returns:

EKO-compensated angles in rad

getAxisQSpeedCmdEKOAn

public OutPort getAxisQSpeedCmdEKOAn()

Returns:

EKO-compensated axis speed in rad/s

getAxisQCmdEKOAb

public OutPort getAxisQCmdEKOAb()

Returns:

Bessel-filtered angles in rad

getAxisQSpeedCmdEKOAb

public OutPort getAxisQSpeedCmdEKOAb()

Returns:

Bessel-filtered axis speed in rad/s

getAxisQAccCmdEKOAb

public OutPort getAxisQAccCmdEKOAb()

Returns:

Bessel-filtered axis acceleration in rad/s^2

getAxisQCmdEKODelta

public OutPort getAxisQCmdEKODelta()

Returns:

dynamic part of the gear deflection in rad

getAxisTorqueCmd

public OutPort getAxisTorqueCmd()

Returns:

EKO-feedforward torque

getStiffness

public OutPort getStiffness()

Returns:

gear stiffness (adapted)