com.kuka.roboticsAPI.deviceModel
Interface ITorqueSensitiveRobot

All Known Implementing Classes:

LBR, SunriseLBR, SunriseLBR5, SunriseLBR5kg14, SunriseLBR5kg7

public interface ITorqueSensitiveRobot

Interface for functionality only offered by robots measuring their joint torques.

Method Summary

boolean	checkTorqueSensor(com.kuka.roboticsAPI.deviceModel.JointEnum joint) Checks if the torque sensor of the given axis works properly.
TorqueSensorData	getExternalTorque() Gets the current external torque sensor data for this robot.
TorqueSensorData	getMeasuredTorque() Gets the currently measured ("raw") torque sensor data for this robot.
SensorForExternalTorque	getSensorForExternalTorque() Gets the external torque sensor of this robot.
SensorForMeasuredTorque	getSensorForMeasuredTorque() Gets the measured ("raw") torque sensor of this robot.
double[]	getTorqueSensorLimits() Gets the torque sensor Limits.

Method Detail

getSensorForMeasuredTorque

SensorForMeasuredTorque getSensorForMeasuredTorque()

Gets the measured ("raw") torque sensor of this robot.

Returns:

A reference to the sensor for measured torque of this robot.

getMeasuredTorque

TorqueSensorData getMeasuredTorque()

Gets the currently measured ("raw") torque sensor data for this robot.

Returns:

The currently measured ("raw") torque sensor data for this robot.

getSensorForExternalTorque

SensorForExternalTorque getSensorForExternalTorque()

Gets the external torque sensor of this robot.

Returns:

A reference to the sensor for external torque of this robot.

getExternalTorque

TorqueSensorData getExternalTorque()

Gets the current external torque sensor data for this robot.

Returns:

The current external torque sensor data for this robot.

getTorqueSensorLimits

double[] getTorqueSensorLimits()

Gets the torque sensor Limits.

Returns:

Array of Values with the nominal Limit of robot axis. May be null if not supported.

checkTorqueSensor

boolean checkTorqueSensor(com.kuka.roboticsAPI.deviceModel.JointEnum joint)

Checks if the torque sensor of the given axis works properly.

Parameters:

joint - The index of the axis.

Returns:

True if the torque sensor works properly, false otherwise.