com.kuka.roboticsAPI.deviceModel
Interface IForceSensitiveRobot

All Known Implementing Classes:

LBR, SunriseLBR, SunriseLBR5, SunriseLBR5kg14, SunriseLBR5kg7

public interface IForceSensitiveRobot

Interface for functionality only offered by robots measuring Cartesian forces

Method Summary

ForceSensorData	getExternalForceTorque(AbstractFrame measureFrame) Gets the external force measured by the robot at the position and in the orientation of the specified measure frame.
ForceSensorData	getExternalForceTorque(AbstractFrame measureFrame, AbstractFrame orientationFrame) Gets the external force measured by the robot at the position and in the orientation of the specified frames.
SensorForExternalForce	getSensorForExternalForce() Gets the force sensor of this LBR which measures the external force at the robot defaultMotionFrame.

Method Detail

getSensorForExternalForce

SensorForExternalForce getSensorForExternalForce()

Gets the force sensor of this LBR which measures the external force at the robot defaultMotionFrame.

Note that you may have to execute a motion command with the correct load data before capturing measurements using the robot's force sensor.

Returns:

A reference to the force sensor of this LBR which measures the force at the robot defaultMotionFrame.

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.

getExternalForceTorque

ForceSensorData getExternalForceTorque(AbstractFrame measureFrame)

Gets the external force measured by the robot at the position and in the orientation of the specified measure frame.

Please note:

• Avoid singular robot positions. Due to mathematical restrictions not every element of the measured force/ torque vector will be correct in these positions.
• The sensor value is only an estimation of the force. The returned data object allows to query the validity of the measured values.
  (See ForceSensorData.isForceValid(double) and ForceSensorData.isTorqueValid(double))

Parameters:

measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device that can measure forces (such as an LBR). If an orientationFrame is given, the orientation of the frame is not important.

Returns:

The external force measured by the robot at the specified measure frame.

getExternalForceTorque

ForceSensorData getExternalForceTorque(AbstractFrame measureFrame,
                                       AbstractFrame orientationFrame)

Gets the external force measured by the robot at the position and in the orientation of the specified frames.

Please note:

• Avoid singular robot positions. Due to mathematical restrictions not every element of the measured force/ torque vector will be correct in these positions.
• The sensor value is only an estimation of the force. The returned data object allows to query the validity of the measured values.
  (See ForceSensorData.isForceValid(double) and ForceSensorData.isTorqueValid(double))

Parameters:

measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device that can measure forces (such as an LBR).

orientationFrame - Optional frame (may be null) that overrides the orientation of the measureFrame. The translation of the orientationFrame has no influence on the measurement. Use this frame if you want to specify the orientation of the measured force and torque relative to the world coordinate system, for example if you want the coordinate axes orientation for the measurement to have the same orientation like the coordinate system of a work piece.

Returns:

The external force measured by the robot regarding the specified measurement frame and orientation.