com.kuka.roboticsAPI.motionModel
Class HandGuidingMotion

java.lang.Object
  com.kuka.roboticsAPI.commandModel.Action<T>
      com.kuka.roboticsAPI.motionModel.Motion<HandGuidingMotion>
          com.kuka.roboticsAPI.motionModel.HandGuidingMotion

All Implemented Interfaces:

com.kuka.roboticsAPI.commandModel.IAction, com.kuka.roboticsAPI.motionModel.IKROSMotion, com.kuka.roboticsAPI.motionModel.IMotion, com.kuka.roboticsAPI.motionModel.IParameterizable

public final class HandGuidingMotion
extends com.kuka.roboticsAPI.motionModel.Motion<HandGuidingMotion>
implements com.kuka.roboticsAPI.motionModel.IKROSMotion

Using the Handguiding motion command will bring the robot into a mode, which enables it to be moved by the handguiding device. When the switch on the handguiding device is pressed, the robot can be moved by grasping it, when it is released, the handguiding motion ends.

This element is not in its final state and might change in future versions.

Constructor Summary

HandGuidingMotion()
Creates a new HandGuidingMotion with the default hand guiding control mode.

Method Summary

boolean[]	getAxisLimitsEnabled() Deprecated. Use getJointLimitsEnabled() instead.Get whether user-specified joint limits during handguiding motion are enabled. The returned value may be null, if the user has not enabled or disabled specific joints yet.
double[]	getAxisLimitsMax() Deprecated. Use getJointLimitsMax() instead. Get joint limits during handguiding motion in positive direction. The returned value may be null, if no user-specified joint limits in positive direction have been set yet.
double[]	getAxisLimitsMin() Deprecated. Use getJointLimitsMin() instead. Get joint limits during handguiding motion in negative direction. The returned value may be null, if no user-specified joint limits in negative direction have been set yet.
double	getAxisSpeedLimit() Deprecated. Use getJointVelocityLimit() instead. Get allowed joint velocity. When this velocity limit is exceeded a damping effect is applied (opposing torque).
double	getCartVelocityLimit() Get allowed Cartesian velocity.
Collection<com.kuka.roboticsAPI.conditionModel.ICondition>	getConditions()
boolean[]	getJointLimitsEnabled() Get whether user-specified joint limits during handguiding motion are enabled.
double[]	getJointLimitsMax() Get joint limits during handguiding motion in positive direction.
double[]	getJointLimitsMin() Get joint limits during handguiding motion in negative direction.
double	getJointVelocityLimit() Get allowed joint velocity.
com.kuka.roboticsAPI.motionModel.controlModeModel.IMotionControlMode	getMode()
boolean	hasConditions()
boolean	hasMotionOverlay()
boolean	hasTrigger()
boolean	isApplicableFor(com.kuka.roboticsAPI.motionModel.controlModeModel.IMotionControlMode newMotionControlMode)
boolean	isAxisLimitViolationFreezesAll() Deprecated. Use isJointLimitViolationFreezesAll() instead. Get whether on joint limit violation all joints should be frozen.
boolean	isJointLimitViolationFreezesAll() Get whether on joint limit violation all joints should be frozen.
boolean	isPermanentPullOnViolationAtStart() Get whether on joint limit violation at the start of the motion there is a permanent pull towards the joint limit.
HandGuidingMotion	setAxisLimitsEnabled(boolean... jointLimitsEnabled) Deprecated. Use setJointLimitsEnabled(boolean...) instead. Set whether user-specified joint limits during handguiding motion are enabled.
HandGuidingMotion	setAxisLimitsMax(double... jointLimitsMax) Deprecated. Use setJointLimitsMax(double...) instead. Set joint limits during handguiding motion in positive direction.
HandGuidingMotion	setAxisLimitsMin(double... jointLimitsMin) Deprecated. Use setJointLimitsMin(double...) instead. Set joint limits during handguiding motion in negative direction.
HandGuidingMotion	setAxisLimitViolationFreezesAll(boolean freezeAllJointOnViolation) Deprecated. Use setJointLimitViolationFreezesAll(boolean) instead. Set whether on joint limit violation all joints should be frozen. If this value is not set, it defaults to true.
HandGuidingMotion	setAxisSpeedLimit(double jointVelocityLimit) Deprecated. Use setJointVelocityLimit(double) instead. Set the allowed joint velocity in rad/sec. When this velocity limit is exceeded a damping effect is applied (opposing torque).
HandGuidingMotion	setCartVelocityLimit(double cartVelocityLimit) Set the allowed Cartesian velocity in mm/sec.
HandGuidingMotion	setJointLimitsEnabled(boolean... jointLimitsEnabled) Set whether user-specified joint limits during handguiding motion are enabled.
HandGuidingMotion	setJointLimitsMax(double... jointLimitsMax) Set joint limits during handguiding motion in positive direction.
HandGuidingMotion	setJointLimitsMin(double... jointLimitsMin) Set joint limits during handguiding motion in negative direction.
HandGuidingMotion	setJointLimitViolationFreezesAll(boolean freezeAllJointsOnViolation) Set whether on joint limit violation all joints should be frozen.
HandGuidingMotion	setJointVelocityLimit(double jointVelocityLimit) Set the allowed joint velocity in rad/sec.
HandGuidingMotion	setPermanentPullOnViolationAtStart(boolean permanentPullOnViolationAtStart) Set whether on joint limit violation at the start of the motion there is a permanent pull towards the joint limit.
void	validateAxisLimits(int arrayLengthRequired) Deprecated. Use validateJointLimits(int) instead. Check if configured joint limits are consistent, and throw an IllegalArgumentException otherwise.
void	validateJointLimits(int arrayLengthRequired) Check if configured joint limits are consistent, and throw an IllegalArgumentException otherwise.

Methods inherited from class com.kuka.roboticsAPI.motionModel.Motion

acquireResources, setMode

Methods inherited from class com.kuka.roboticsAPI.commandModel.Action

addParameter, addParams, getParams, releaseResources, removeParameter, self

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.kuka.roboticsAPI.commandModel.IAction

acquireResources, releaseResources

Methods inherited from interface com.kuka.roboticsAPI.motionModel.IParameterizable

getParams

Constructor Detail

HandGuidingMotion

public HandGuidingMotion()

Creates a new HandGuidingMotion with the default hand guiding control mode.

This element is not in its final state and might change in future versions.

Method Detail

isApplicableFor

public boolean isApplicableFor(com.kuka.roboticsAPI.motionModel.controlModeModel.IMotionControlMode newMotionControlMode)

Specified by:

isApplicableFor in interface com.kuka.roboticsAPI.motionModel.IKROSMotion

getMode

public com.kuka.roboticsAPI.motionModel.controlModeModel.IMotionControlMode getMode()

Specified by:

getMode in interface com.kuka.roboticsAPI.motionModel.IKROSMotion

getConditions

public Collection<com.kuka.roboticsAPI.conditionModel.ICondition> getConditions()

Specified by:

getConditions in interface com.kuka.roboticsAPI.motionModel.IKROSMotion

hasConditions

public boolean hasConditions()

Specified by:

hasConditions in interface com.kuka.roboticsAPI.motionModel.IKROSMotion

hasTrigger

public boolean hasTrigger()

Specified by:

hasTrigger in interface com.kuka.roboticsAPI.motionModel.IKROSMotion

hasMotionOverlay

public boolean hasMotionOverlay()

Specified by:

hasMotionOverlay in interface com.kuka.roboticsAPI.motionModel.IKROSMotion

getAxisLimitsMin

@Deprecated
public double[] getAxisLimitsMin()

Deprecated. Use getJointLimitsMin() instead. Get joint limits during handguiding motion in negative direction. The returned value may be null, if no user-specified joint limits in negative direction have been set yet.

Returns:

Joint limits in negative direction in radians.

getJointLimitsMin

public double[] getJointLimitsMin()

Get joint limits during handguiding motion in negative direction. The returned value may be null, if no user-specified joint limits in negative direction have been set yet.

Returns:

Joint limits in negative direction in radians.

setAxisLimitsMin

@Deprecated
public HandGuidingMotion setAxisLimitsMin(double... jointLimitsMin)

Deprecated. Use setJointLimitsMin(double...) instead. Set joint limits during handguiding motion in negative direction.

Parameters:

jointLimitsMin - Joint limits in negative direction in radians.

Returns:

A copy of this object (builder pattern).

setJointLimitsMin

public HandGuidingMotion setJointLimitsMin(double... jointLimitsMin)

Set joint limits during handguiding motion in negative direction.

Parameters:

jointLimitsMin - Joint limits in negative direction in radians.

Returns:

A copy of this object (builder pattern).

getAxisLimitsMax

@Deprecated
public double[] getAxisLimitsMax()

Deprecated. Use getJointLimitsMax() instead. Get joint limits during handguiding motion in positive direction. The returned value may be null, if no user-specified joint limits in positive direction have been set yet.

Returns:

Joint limits in positive direction in radians.

getJointLimitsMax

public double[] getJointLimitsMax()

Get joint limits during handguiding motion in positive direction. The returned value may be null, if no user-specified joint limits in positive direction have been set yet.

Returns:

Joint limits in positive direction in radians.

setAxisLimitsMax

@Deprecated
public HandGuidingMotion setAxisLimitsMax(double... jointLimitsMax)

Deprecated. Use setJointLimitsMax(double...) instead. Set joint limits during handguiding motion in positive direction.

Parameters:

jointLimitsMax - Joint limits in positive direction in radians.

Returns:

A copy of this object (builder pattern).

setJointLimitsMax

public HandGuidingMotion setJointLimitsMax(double... jointLimitsMax)

Set joint limits during handguiding motion in positive direction.

Parameters:

jointLimitsMax - Joint limits in positive direction in radians.

Returns:

A copy of this object (builder pattern).

getAxisLimitsEnabled

@Deprecated
public boolean[] getAxisLimitsEnabled()

Deprecated. Use getJointLimitsEnabled() instead.Get whether user-specified joint limits during handguiding motion are enabled. The returned value may be null, if the user has not enabled or disabled specific joints yet.

Returns:

True, if n-th joint limits (limits in both positive and negative direction) are enabled, and false otherwise.

getJointLimitsEnabled

public boolean[] getJointLimitsEnabled()

Get whether user-specified joint limits during handguiding motion are enabled. The returned value may be null, if the user has not enabled or disabled specific joints yet.

Returns:

True, if n-th joint limits (limits in both positive and negative direction) are enabled, and false otherwise.

setAxisLimitsEnabled

@Deprecated
public HandGuidingMotion setAxisLimitsEnabled(boolean... jointLimitsEnabled)

Deprecated. Use setJointLimitsEnabled(boolean...) instead. Set whether user-specified joint limits during handguiding motion are enabled.

Parameters:

jointLimitsEnabled - True, if n-th joint limits (limits in both positive and negative direction) are enabled, and false otherwise.

Returns:

A copy of this object (builder pattern).

setJointLimitsEnabled

public HandGuidingMotion setJointLimitsEnabled(boolean... jointLimitsEnabled)

Set whether user-specified joint limits during handguiding motion are enabled.

Parameters:

jointLimitsEnabled - True, if n-th joint limits (limits in both positive and negative direction) are enabled, and false otherwise.

Returns:

A copy of this object (builder pattern).

validateAxisLimits

@Deprecated
public void validateAxisLimits(int arrayLengthRequired)

Deprecated. Use validateJointLimits(int) instead. Check if configured joint limits are consistent, and throw an IllegalArgumentException otherwise.

Parameters:

arrayLengthRequired - Required length of arrays, if arrays are configured.

validateJointLimits

public void validateJointLimits(int arrayLengthRequired)

Check if configured joint limits are consistent, and throw an IllegalArgumentException otherwise.

Parameters:

arrayLengthRequired - Required length of arrays, if arrays are configured.

isAxisLimitViolationFreezesAll

@Deprecated
public boolean isAxisLimitViolationFreezesAll()

Deprecated. Use isJointLimitViolationFreezesAll() instead. Get whether on joint limit violation all joints should be frozen.

Returns:

True, if on joint limit violation all joints should be frozen, and false for freezing of only violating joints.

isJointLimitViolationFreezesAll

public boolean isJointLimitViolationFreezesAll()

Get whether on joint limit violation all joints should be frozen.

Returns:

True, if on joint limit violation all joints should be frozen, and false for freezing of only violating joints.

setAxisLimitViolationFreezesAll

@Deprecated
public HandGuidingMotion setAxisLimitViolationFreezesAll(boolean freezeAllJointOnViolation)

Deprecated. Use setJointLimitViolationFreezesAll(boolean) instead. Set whether on joint limit violation all joints should be frozen. If this value is not set, it defaults to true.

Parameters:

freezeAllJointOnViolation - True, if on joint limit violation all joints should be frozen, and false for freezing of only violating joints.

Returns:

A copy of this object (builder pattern).

setJointLimitViolationFreezesAll

public HandGuidingMotion setJointLimitViolationFreezesAll(boolean freezeAllJointsOnViolation)

Set whether on joint limit violation all joints should be frozen. If this value is not set, it defaults to true.

Parameters:

freezeAllJointsOnViolation - True, if on joint limit violation all joints should be frozen, and false for freezing of only violating joints.

Returns:

A copy of this object (builder pattern).

isPermanentPullOnViolationAtStart

public boolean isPermanentPullOnViolationAtStart()

Get whether on joint limit violation at the start of the motion there is a permanent pull towards the joint limit.

Returns:

True, if on joint limit violation at the start of the motion there is a permanent pull towards the joint limit, false otherwise.

setPermanentPullOnViolationAtStart

public HandGuidingMotion setPermanentPullOnViolationAtStart(boolean permanentPullOnViolationAtStart)

Set whether on joint limit violation at the start of the motion there is a permanent pull towards the joint limit. If this value is not set, it defaults to false.

Parameters:

permanentPullOnViolationAtStart - True, if on joint limit violation at the start of the motion there is a permanent pull towards the joint limit, false otherwise.

Returns:

A copy of this object (builder pattern).

getAxisSpeedLimit

@Deprecated
public double getAxisSpeedLimit()

Deprecated. Use getJointVelocityLimit() instead. Get allowed joint velocity. When this velocity limit is exceeded a damping effect is applied (opposing torque).

Returns:

Joint velocity limit in rad/sec

getJointVelocityLimit

public double getJointVelocityLimit()

Get allowed joint velocity. When this velocity limit is exceeded a damping effect is applied (opposing torque).

Returns:

Joint velocity limit in rad/sec

setAxisSpeedLimit

@Deprecated
public HandGuidingMotion setAxisSpeedLimit(double jointVelocityLimit)

Deprecated. Use setJointVelocityLimit(double) instead. Set the allowed joint velocity in rad/sec. When this velocity limit is exceeded a damping effect is applied (opposing torque).

Parameters:

jointVelocityLimit - Joint velocity limit in rad/sec

Returns:

A copy of this object (builder pattern).

setJointVelocityLimit

public HandGuidingMotion setJointVelocityLimit(double jointVelocityLimit)

Set the allowed joint velocity in rad/sec. When this velocity limit is exceeded a damping effect is applied (opposing torque).

Parameters:

jointVelocityLimit - Joint velocity limit in rad/sec

Returns:

A copy of this object (builder pattern).

getCartVelocityLimit

public double getCartVelocityLimit()

Get allowed Cartesian velocity. When this velocity limit is exceeded a damping effect is applied (opposing torque).

Returns:

Cartesian velocity limit in mm/sec

setCartVelocityLimit

public HandGuidingMotion setCartVelocityLimit(double cartVelocityLimit)

Set the allowed Cartesian velocity in mm/sec. When this velocity limit is exceeded a damping effect is applied (opposing torque).

Parameters:

cartVelocityLimit - Cartesian velocity limit in mm/sec

Returns:

A copy of this object (builder pattern).