com.kuka.roboticsAPI.motionModel.controlModeModel
Class CartesianSineImpedanceControlMode.CartSineImpBuilder

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

Enclosing class:

CartesianSineImpedanceControlMode

public class CartesianSineImpedanceControlMode.CartSineImpBuilder
extends CartesianImpedanceControlMode.CartImpBuilder

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

Field Summary

Fields inherited from class com.kuka.roboticsAPI.motionModel.controlModeModel.CartesianImpedanceControlMode.CartImpBuilder

_dofCollection

Constructor Summary

CartesianSineImpedanceControlMode.CartSineImpBuilder(CartDOF... cartesianDegreeOfFreedom)
Creates a new CartSineImpBuilder.

Method Summary

CartesianSineImpedanceControlMode.CartSineImpBuilder	setAdditionalControlForce(double force) Deprecated.
CartesianSineImpedanceControlMode.CartSineImpBuilder	setAmplitude(double amplitude) Sets the amplitude for all degrees of freedom defined in the CartSineImpBuilder.
CartesianSineImpedanceControlMode.CartSineImpBuilder	setBias(double bias) Sets the bias for all degrees of freedom defined in the CartSineImpBuilder.
CartesianSineImpedanceControlMode.CartSineImpBuilder	setDamping(double damping) Sets the damping value (Lehr's damping ratio) for all degrees of freedom defined in the CartImpBuilder.
CartesianSineImpedanceControlMode.CartSineImpBuilder	setForceLimit(double forceLimit) Sets the force limit for the, in the CartSineImpBuilder defined degrees of freedom.
CartesianSineImpedanceControlMode.CartSineImpBuilder	setFrequency(double frequency) Sets the frequency for all degrees of freedom defined in the CartSineImpBuilder.
CartesianSineImpedanceControlMode.CartSineImpBuilder	setPhaseDeg(double phase) Sets the phase for the, in the CartSineImpBuilder defined degrees of freedom.
CartesianSineImpedanceControlMode.CartSineImpBuilder	setPositionLimit(double positionLimit) Sets the position limit for the, in the CartSineImpBuilder defined degrees of freedom.
CartesianSineImpedanceControlMode.CartSineImpBuilder	setStiffness(double stiffness) Sets the stiffness for all degrees of freedom defined in the CartesianImpedanceControlMode.CartImpBuilder.

Methods inherited from class com.kuka.roboticsAPI.motionModel.controlModeModel.CartesianImpedanceControlMode.CartImpBuilder

setMaxCartesianVelocity, setMaxControlForce, setMaxPathDeviation

Methods inherited from class java.lang.Object

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

Constructor Detail

CartesianSineImpedanceControlMode.CartSineImpBuilder

public CartesianSineImpedanceControlMode.CartSineImpBuilder(CartDOF... cartesianDegreeOfFreedom)

Creates a new CartSineImpBuilder.

Parameters:

cartesianDegreeOfFreedom - The specified degrees of freedom

Method Detail

setAmplitude

public CartesianSineImpedanceControlMode.CartSineImpBuilder setAmplitude(double amplitude)

Sets the amplitude for all degrees of freedom defined in the CartSineImpBuilder.

Parameters:

amplitude - The value of the amplitude. For CartDOF X,Y,Z [N] and CartDOF A,B,C [Nm] Precondition: The value must be in the valid range of
cartDOF X,Y,Z,A,B,C >= 0.0

Returns:

CartSineImpBuilder

setBias

public CartesianSineImpedanceControlMode.CartSineImpBuilder setBias(double bias)

Sets the bias for all degrees of freedom defined in the CartSineImpBuilder.

Parameters:

bias - The value of the bias. For CartDOF X,Y,Z [N] and CartDOF A,B,C [Nm]

Returns:

CartSineImpBuilder

setAdditionalControlForce

@Deprecated
public CartesianSineImpedanceControlMode.CartSineImpBuilder setAdditionalControlForce(double force)

Deprecated.

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

Overrides:

setAdditionalControlForce in class CartesianImpedanceControlMode.CartImpBuilder

Parameters:

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

Returns:

CartSineImpBuilder

setFrequency

public CartesianSineImpedanceControlMode.CartSineImpBuilder setFrequency(double frequency)

Sets the frequency for all degrees of freedom defined in the CartSineImpBuilder.

Parameters:

frequency - The value of the frequency [Hz] Precondition: The value must be in the valid range of
0.0 <= cartDOF X,Y,Z,A,B,C <= 15.0

Returns:

CartSineImpBuilder

setPhaseDeg

public CartesianSineImpedanceControlMode.CartSineImpBuilder setPhaseDeg(double phase)

Sets the phase for the, in the CartSineImpBuilder defined degrees of freedom.

Parameters:

phase - The value of the phase [degree] Precondition: The value must be in the valid range of
cartDOF X,Y,Z,A,B,C >= 0.0

Returns:

CartSineImpBuilder

Throws:

IllegalArgumentException - if a negative value is given

setPositionLimit

public CartesianSineImpedanceControlMode.CartSineImpBuilder setPositionLimit(double positionLimit)

Sets the position limit for the, in the CartSineImpBuilder defined degrees of freedom.

Note: This function sets the maximum allowed space for the defined cartesianSinePattern. The default value is infinitive (No limit). If the limit is exceeded, the modulated force will set to 0 as long as the position limit is exceeded. Whenever the position returns into the allowed space again, forces will be reactivated.

Parameters:

positionLimit - The positionLimit for CartDOF X,Y,Z [mm] and CartDOF A,B,C [rad] Precondition: The value must be in the valid range of
cartDOF X,Y,Z,A,B,C >= 0.0

Returns:

CartSineImpBuilder

Throws:

IllegalArgumentException - if a negative value is given

setForceLimit

public CartesianSineImpedanceControlMode.CartSineImpBuilder setForceLimit(double forceLimit)

Sets the force limit for the, in the CartSineImpBuilder defined degrees of freedom.

Note: This function sets the maximum allowed force for the selected cartesianSinePattern. The default value is infinitive (No limit). The limit clips the user defined forces.

Parameters:

forceLimit - The forceLimit for CartDOF X,Y,Z [N] and CartDOF A,B,C [Nm] Precondition: The value must be in the valid range of
cartDOF X,Y,Z,A,B,C >= 0.0

Returns:

CartSineImpBuilder

Throws:

IllegalArgumentException - if a negative value is given

setStiffness

public CartesianSineImpedanceControlMode.CartSineImpBuilder 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.

Overrides:

setStiffness in class CartesianImpedanceControlMode.CartImpBuilder

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 CartesianSineImpedanceControlMode.CartSineImpBuilder 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

Overrides:

setDamping in class CartesianImpedanceControlMode.CartImpBuilder

Parameters:

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

Returns:

CartImpBuilder