Uses of Class
com.kuka.roboticsAPI.deviceModel.Robot

Packages that use Robot

com.kuka.roboticsAPI	This package contains all sub-packages for the RoboticsAPI functionality.
com.kuka.roboticsAPI.applicationModel.tasks	Contains interfaces and classes needed for tasks using RoboticsAPI.
com.kuka.roboticsAPI.conditionModel	Contains all necessary classes to build conditions.
com.kuka.roboticsAPI.controllerModel.recovery	This package contains classes for the recovery of robots for paused applications.
com.kuka.roboticsAPI.controllerModel.sunrise	Contains the controller implementation for the sunrise controller including it's IO interface.
com.kuka.roboticsAPI.controllerModel.sunrise.api	Contains the necessary objects to work with Sunrise.
com.kuka.roboticsAPI.controllerModel.sunrise.conditions	Contains the Sunrise implementation of the conditions interface and listener execution.
com.kuka.roboticsAPI.controllerModel.sunrise.mapping	Contains the sunrise specific mapping algorithms, that convert RoboticsAPI objects to a series of SPRs.
com.kuka.roboticsAPI.controllerModel.sunrise.positionMastering	Contains all classes which deal with the position mastering topic.
com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds	Contains predefined compounds for Sunrise.
com.kuka.roboticsAPI.deviceModel	Contains classes describing the available devices in the RoboticsAPI.
com.kuka.roboticsAPI.geometricModel	Contains classes describing geometric relations between objects.
com.kuka.roboticsAPI.motionModel.stopConditions	Contains classes for describing stop conditions.
com.kuka.roboticsAPI.requestModel	This package contains the request definition and predefined requests.
com.kuka.roboticsAPI.sensorModel	Contains classes for describing sensors.

Uses of Robot in com.kuka.roboticsAPI

Methods in com.kuka.roboticsAPI that return Robot

static Robot	RoboticsAPIUtilities.getRobotIfFrameIsAttachedToFlange(AbstractFrame frame)
static Robot	RoboticsAPIUtilities.searchRobot(AbstractFrame frame) Finds an attached robot of the given frame.

Methods in com.kuka.roboticsAPI with parameters of type Robot

static String

RoboticsAPIUtilities.determineToolName(Robot robot) Determines a tool name for the robot.

Uses of Robot in com.kuka.roboticsAPI.applicationModel.tasks

Methods in com.kuka.roboticsAPI.applicationModel.tasks that return Robot

Robot	RoboticsAPITask.getRobot(Controller controller, String robotName) Gets the robot with the given name from the given controller instance.
Robot	RoboticsAPITask.getRobot(String controllerName, String robotName) Returns a robot with the specified name from the controller with the specified name.

Uses of Robot in com.kuka.roboticsAPI.conditionModel

Methods in com.kuka.roboticsAPI.conditionModel that return Robot

Robot	RobotCondition.getRobot() Return the robot this condition is referring to.
Robot	FrameDistanceCondition.getRobotAttachedToMovingFrame() Gets the robot attached to the Moving frame.

Methods in com.kuka.roboticsAPI.conditionModel with parameters of type Robot

protected void

RobotCondition.setRobot(Robot robot) Set the robot this condition is referring to.

Constructors in com.kuka.roboticsAPI.conditionModel with parameters of type Robot

JointTorqueCondition(Robot robot, com.kuka.roboticsAPI.deviceModel.JointEnum joint, double minTorque, double maxTorque)
Creates a new Instance of a JointTorqueCondition.

Uses of Robot in com.kuka.roboticsAPI.controllerModel.recovery

Methods in com.kuka.roboticsAPI.controllerModel.recovery that return types with arguments of type Robot

Collection<Robot>

RecoveryManager.getRobots() Returns all Robot's of the recovery feature.

Methods in com.kuka.roboticsAPI.controllerModel.recovery with parameters of type Robot

IExecutableRecoveryStrategy	RecoveryManager.getExecRecoveryStrategy(Robot robot) Returns the executable recovery strategy which is executed if the application is resumed.
IRecoveryStrategy	RecoveryManager.getRecoveryStrategy(Robot robot)
IRecoveryStrategy	IRecovery.getRecoveryStrategy(Robot robot) Returns the recovery strategy which is executed if the application is resumed.
boolean	RecoveryManager.isRecoveryRequired(Robot robot)
boolean	IRecovery.isRecoveryRequired(Robot robot) Determines if actions are necessary to resume the application.
void	RecoveryManager.setRecoveryInfo(Robot robot, RecoveryInformation recoveryinfo) Saves the device state which has to be recovered if the application is resumed.
IMotionContainer	PTPRecoveryStrategy.startRecovery(Robot robot, IMotionContainerListener listener)
IMotionContainer	IExecutableRecoveryStrategy.startRecovery(Robot robot, IMotionContainerListener listener) Starts the recovery motion asynchronously.

Uses of Robot in com.kuka.roboticsAPI.controllerModel.sunrise

Subclasses of Robot in com.kuka.roboticsAPI.controllerModel.sunrise

class	SunriseLBR Represents a LBR that is connected to a Sunrise system.
class	SunriseLBR5 Represents a SunriseLBR of version 5.
class	SunriseLBR5kg14 Represents a SunriseLBR of version 5 14kg.
class	SunriseLBR5kg7 Represents a SunriseLBR of version 5 7kg.

Methods in com.kuka.roboticsAPI.controllerModel.sunrise with parameters of type Robot

static Transformation

SPRUtilities.getToolOffset(Robot robot, AbstractFrame defaultMotionFrame) Gets the transformation between the flange of the specified robot and its defaultMotionFrame point.

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise with parameters of type Robot

ExternalForceTorqueCalculator(ISunriseRequestService requestService, Robot robot)
Creates a new instance of the ExternalForceTorqueCalculator.

ExternalForceTorqueCalculator(SunriseController controller, Robot robot)
Creates a new instance of the ExternalForceTorqueCalculator.

Uses of Robot in com.kuka.roboticsAPI.controllerModel.sunrise.api

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.api with parameters of type Robot

static String

SSRUtilities.busInterfaceName(Robot robot, int axisId) Retrieves the bus interface name.

Uses of Robot in com.kuka.roboticsAPI.controllerModel.sunrise.conditions

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.conditions with parameters of type Robot

ErrStateDrivesCondition(Robot robot, EnumSet<ErrStateDrivesCondition.ErrStateDrives> errStateDrives)
Condition is fulfilled if at least one of the parameterized stopDemands is requested.

Uses of Robot in com.kuka.roboticsAPI.controllerModel.sunrise.mapping

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.mapping with parameters of type Robot

static void	SplineMotionSPRBuilder.addCartVelLimiter(Robot robot, SPR motionSPR, OverrideMappingHelper motionModule, ApplicationStateModule appStateModule) Add the Cartesian velocity limiter to motion modules.
static void	SplineMotionMappingHelper.addCartVelLimiter(Robot robot, SPR motionSPR, OverrideMappingHelper motionModule, ApplicationStateModule appStateModule) Add the Cartesian velocity limiter to motion modules.
protected void	CommandMapper.checkControlModeValid(IMotionControlMode mode, Robot robot, IKROSMotion motion) Checks that the selected motion control mode is supported by the given robot and that the motion is supported by the motion control mode.
static void	FrameGraphHelper.checkTaskFrameInWorld(AbstractFrame taskFrame, Robot robot) Checks that the task frame is not connected to a robot flange.
static SPR	BrakeTestSprFactory.createBrakeTestSpr(BrakeTest objToMap, Robot robot) Creates and assembles a SPR for a brake test.
static RobotObserver	RobotMapper.createObserver(Robot robot, SPR spr) Creates an observer for the given robot.
protected static OutPort	RobotMapper.getObserverAlphaOutport(Robot robot, RobotObserver observer) Gets the alpha output port of the observer depending on the last motion.
protected static OutPort	RobotMapper.getObserverCartPositionOutport(Robot robot, RobotObserver observer) Gets the cartesian position output port of the observer depending on the last motion.
RobotObserver	SunriseMappingToken.getUniqueRobotObserverInstance(Robot robot, SPR spr) Gets a unique robot observer instance for one complete mapping process.
static FrameDefinitionList	FrameGraphHelper.targetFrameMapping(FrameDefinitionList frameGraph, SunriseMappingToken info, Robot robot, AbstractFrame taskFrame, AbstractFrame targetFrame) Configures the frame graph so that the transformation from robot root to robot flange for a given target frame can be computed.
static void	FrameGraphHelper.taskFrameMapping(FrameDefinitionList frameGraph, SunriseMappingToken info, Robot robot, DeviceMappingResult robotPorts, AbstractFrame taskFrame) Configures the frame to be used for interpolation on a (possibly dynamic) task frame.
SplineMotionSPRBuilder	SplineMotionSPRBuilder.withRobot(Robot robot)
MeasureToCommandSPRBuilder	MeasureToCommandSPRBuilder.withRobot(Robot robot) Sets the robot.

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.mapping with parameters of type Robot

ForceMappingInformation(int id, SPR spr, Robot robot, RobotObserver observer)
Initializes the helper class.

SplineData(SplineMotion<?> spline, SunriseMappingToken info, Robot robot, com.kuka.common.params.ParameterSet commandParams, AbstractFrame taskFrame)
Creates an instance of the class.

Uses of Robot in com.kuka.roboticsAPI.controllerModel.sunrise.positionMastering

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.positionMastering with parameters of type Robot

PositionMastering(ISunriseRequestService reqService, Robot robot)
Creates an instance of this class.

PositionMastering(Robot robot)
Creates an instance of this class.

Uses of Robot in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds with parameters of type Robot

void	AxisValidatorModule.configure(Robot robot, IMotionControlMode mode, SPR spr, boolean useAxisLimit) Configures the validator module.
void	ElasticityCompensationModule.configure(Robot device, LoadData loadData)

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds with parameters of type Robot

CartesianVelocityLimiter(Robot robot, boolean isVelocityMonitorMode)
Creates an instance of the class for the specified device.

JointSplineModule(Robot robot)
Creates a new joint spline module.

NewJointSplineModule(Robot robot)
Creates a new PTP module.

SplineMotionModule(Robot device, SunriseMappingToken info, com.kuka.common.params.ParameterSet commandParams, IMotion motion, AbstractFrame taskFrame)
Creates an instance of this class.

Uses of Robot in com.kuka.roboticsAPI.deviceModel

Subclasses of Robot in com.kuka.roboticsAPI.deviceModel

class

LBR A LBR represents the KUKA lightweight robot (LWR).

Constructors in com.kuka.roboticsAPI.deviceModel with parameters of type Robot

JointConfigurationInformation(Robot robot)
Creates a joint configuration for a robot.

TeachInformation(Robot robot)
Creates a filled teach information instance.

Uses of Robot in com.kuka.roboticsAPI.geometricModel

Methods in com.kuka.roboticsAPI.geometricModel that return Robot

Robot

SceneGraphObject.findRobot() Finds the robot to which the object is connected.

Methods in com.kuka.roboticsAPI.geometricModel with parameters of type Robot

IRedundancyCollection	AbstractFrame.getRedundancyInformationForDevice(Robot robot) Gets the redundancy information of a specific Device for this Frame.
void	AbstractFrame.setRedundancyInformation(Robot robot, IRedundancyCollection redundancy) Sets the redundancy information for this frame for a specific transformation provider.

Uses of Robot in com.kuka.roboticsAPI.motionModel.stopConditions

Methods in com.kuka.roboticsAPI.motionModel.stopConditions that return Robot

Robot

JointStopCondition.getRobot() Gets the robot for which the joint condition is created.

Constructors in com.kuka.roboticsAPI.motionModel.stopConditions with parameters of type Robot

JointStopCondition(Robot robot)
Creates a new instance of the joint stop condition for the specified robot.

Uses of Robot in com.kuka.roboticsAPI.requestModel

Methods in com.kuka.roboticsAPI.requestModel that return Robot

Robot	GetInverseKinematicsFromReferenceRequest.getDevice() The device to which the request is issued.
Robot	GetInverseKinematicsFromFrameAndRedundancyRequest.getDevice()
Robot	GetForwardKinematicValidRequest.getDevice() The device to which the request is issued.
Robot	GetCurrentConfigurationRequest.getDevice() The device to which the request is issued.
Robot	GetBaseFlangeTransformationRequest.getDevice() The device to which the request is issued.
Robot	GetAlphaInverseKinematicsFromReferenceRequest.getDevice() The device to which the request is issued.
Robot	GetAlphaAngleRequest.getDevice()

Constructors in com.kuka.roboticsAPI.requestModel with parameters of type Robot

GetBaseFlangeTransformationRequest(Robot robot)
Creates a new request instance.

GetBooleanDeviceObserverRequest(Robot robot, String observer, String dfeName)

GetCurrentConfigurationRequest(Robot robot)
Creates a new request instance.

GetCurrentConfigurationRequest(Robot robot, boolean includeCartesianPosition)
Creates a new request instance.

GetForwardKinematicValidRequest(Robot robot, JointPosition joints)
Creates a new request instance.

GetInverseKinematicsFromFrameAndRedundancyRequest(Robot robot, AbstractFrame frame)
Creates a new request instance.

GetInverseKinematicsFromReferenceRequest(Robot robot, ITransformation matrix, JointPosition correspondingJoints)
Creates a new request instance.

Uses of Robot in com.kuka.roboticsAPI.sensorModel

Methods in com.kuka.roboticsAPI.sensorModel that return Robot

Robot

JointTorqueInformation.getRobot() Gets the robot whose torque measurement will be recorded.

Methods in com.kuka.roboticsAPI.sensorModel that return types with arguments of type Robot

List<Robot>	RecorderConfiguration.getCommandedJointPosition() Gets the list of commanded joint position configuration.
List<Robot>	RecorderConfiguration.getCurrentJointPosition() Gets the list of current joint position configuration.
List<Robot>	RecorderConfiguration.getRobotForExeternalJointTorque() Gets the list of robots for external joint torque configuration.
List<Robot>	RecorderConfiguration.getRobotForInternalJointTorque() Gets the list of robots for internal joint torque configuration.

Methods in com.kuka.roboticsAPI.sensorModel with parameters of type Robot

void	RecorderConfiguration.addCommandedJointPosition(Robot robot, boolean inDegree) Adds the commanded joint position.
DataRecorder	DataRecorder.addCommandedJointPosition(Robot robot, DataRecorder.AngleUnit angleUnit) Adds the commanded positions of all joints of the robot.
void	RecorderConfiguration.addCurrentJointPosition(Robot robot, boolean inDegree) Adds the current joint position.
DataRecorder	DataRecorder.addCurrentJointPosition(Robot robot, DataRecorder.AngleUnit angleUnit) Adds the current positions of all joints of the robot.
void	RecorderConfiguration.addExternalJointTorque(Robot robot) Adds external joint torques.
DataRecorder	DataRecorder.addExternalJointTorque(Robot robot) Adds the external torques of all joints of the robot.
void	RecorderConfiguration.addInternalJointTorque(Robot robot) Adds internal joint torques.
DataRecorder	DataRecorder.addInternalJointTorque(Robot robot) Adds the internal torques of all joints of the robot.

Constructors in com.kuka.roboticsAPI.sensorModel with parameters of type Robot

JointTorqueInformation(Robot lbr, boolean flagIntExt)
Creates a new instance of type CartesianForceTorqueInformation with given measure Frame and orientation Frame.