com.kuka.roboticsAPI.motionModel.controlModeModel
Class CartesianImpedanceControlMode.CartImpBuilder

java.lang.Object
  com.kuka.roboticsAPI.motionModel.controlModeModel.CartesianImpedanceControlMode.CartImpBuilder

Direct Known Subclasses:

CartesianSineImpedanceControlMode.CartSineImpBuilder

Enclosing class:

CartesianImpedanceControlMode

public class CartesianImpedanceControlMode.CartImpBuilder
extends Object

Inner Class to parameterize the CartesianImpedanceControlMode for one or more degrees of freedom.

Field Summary

protected List<CartDOF>

_dofCollection List of cartesian degrees of freedom.

Constructor Summary

CartesianImpedanceControlMode.CartImpBuilder(CartDOF... cartesianDegreeOfFreedom)
Creates a new CartImpBuilder.

Method Summary

CartesianImpedanceControlMode.CartImpBuilder	setAdditionalControlForce(double force) Sets an additional force to the TCP for all degrees of freedom defined in the CartImpBuilder.
CartesianImpedanceControlMode.CartImpBuilder	setDamping(double damping) Sets the damping value (Lehr's damping ratio) for all degrees of freedom defined in the CartImpBuilder.
CartesianImpedanceControlMode.CartImpBuilder	setMaxCartesianVelocity(double maxCartVel) Deprecated.
CartesianImpedanceControlMode.CartImpBuilder	setMaxControlForce(double maxContrForce, boolean addStopCondition) Deprecated.
CartesianImpedanceControlMode.CartImpBuilder	setMaxPathDeviation(double maxPathDeviation) Deprecated.
CartesianImpedanceControlMode.CartImpBuilder	setStiffness(double stiffness) Sets the stiffness for all degrees of freedom defined in the CartesianImpedanceControlMode.CartImpBuilder.

Methods inherited from class java.lang.Object

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

Field Detail

_dofCollection

protected List<CartDOF> _dofCollection

List of cartesian degrees of freedom.

Constructor Detail

CartesianImpedanceControlMode.CartImpBuilder

public CartesianImpedanceControlMode.CartImpBuilder(CartDOF... cartesianDegreeOfFreedom)

Creates a new CartImpBuilder.

Parameters:

cartesianDegreeOfFreedom - Array of specified degrees of freedom

Method Detail

setStiffness

public CartesianImpedanceControlMode.CartImpBuilder setStiffness(double stiffness)

Sets the stiffness for all degrees of freedom defined in the CartesianImpedanceControlMode.CartImpBuilder. The mode will use measured values for the next motion, because it's settings have changed. If you do not want such a behavior, call useCommandedValues on the mode.

Parameters:

stiffness - The stiffness values [x, y, z, a, b, c] for the cartesian impedance, x, y, z in [N/m], a, b, c in [Nm/rad].
Precondition: The value must be in the valid range of
0.0 <= cartDOF X,Y,Z <= 5000.0
0.0 <= cartDOF A,B,C <= 300.0.

Returns:

CartImpBuilder

setDamping

public CartesianImpedanceControlMode.CartImpBuilder setDamping(double damping)

Sets the damping value (Lehr's damping ratio) for all degrees of freedom defined in the CartImpBuilder.

Damping values should be between 0.1 and 1.0. A good damping value is 0.7.
Precondition: The value must be in the valid range
0.1 <= x, y, z, a, b, c <= 1.0

Parameters:

damping - The damping value [dimensionless for all degrees of freedom].

Returns:

CartImpBuilder

setAdditionalControlForce

public CartesianImpedanceControlMode.CartImpBuilder setAdditionalControlForce(double force)

Sets an additional force to the TCP for all degrees of freedom defined in the CartImpBuilder. This force acts in addition to the spring.

Parameters:

force - The force to apply. For cartDOF X, Y, Z [N] / A, B, C [Nm].

Returns:

CartImpBuilder

setMaxCartesianVelocity

@Deprecated
public CartesianImpedanceControlMode.CartImpBuilder setMaxCartesianVelocity(double maxCartVel)

Deprecated.

Please use CartesianImpedanceControlMode.setMaxCartesianVelocity(double x, double y, double z, double a, double b, double c)

Sets the maximum cartesian velocity for this impedance motion. If the velocity is exceeded a stop condition is fired.

Parameters:

maxCartVel - The value of the maximum velocity. CartDOF X, Y, Z [mm/s] / A, B, C [rad/s]
Precondition: maxCartVel >= 0.0

Returns:

CartImpBuilder

setMaxControlForce

@Deprecated
public CartesianImpedanceControlMode.CartImpBuilder setMaxControlForce(double maxContrForce,
                                                                                  boolean addStopCondition)

Deprecated.

Please use CartesianImpedanceControlMode.setMaxControlForce(double x, double y, double z, double a, double b, double c, boolean addStopCondition)

Sets the maximum control force applied for this mode. This can be used to limit the stiffness of the spring to a specified force.

Parameters:

maxContrForce - The value of the maximum force. CartDOF X,Y,Z [N] / A, B, C [Nm]
Precondition: value >= 0.0

addStopCondition - Indicates whether the stop condition should be fired if the maximum force is exceeded.

Returns:

CartImpBuilder

setMaxPathDeviation

@Deprecated
public CartesianImpedanceControlMode.CartImpBuilder setMaxPathDeviation(double maxPathDeviation)

Deprecated.

Please use CartesianImpedanceControlMode.setMaxPathDeviation(double x, double y, double z, double a, double b, double c)

Sets the maximum cartesian deviation accepted. If the deviation is exceeded a stop condition occurs.

Parameters:

maxPathDeviation - The value of th maximum deviation. CartDOF X, Y, Z [mm] / A, B, C [rad]
Precondition: value >= 0.0.

Returns:

CartImpBuilder