com.kuka.roboticsAPI.motionModel.controlModeModel
Interface IImpedanceMotionControlMode

All Superinterfaces:

IMotionControlMode

All Known Implementing Classes:

AbstractImpedanceControlMode, CartesianImpedanceControlMode, CartesianSineImpedanceControlMode, JointImpedanceControlMode

public interface IImpedanceMotionControlMode
extends IMotionControlMode

Base interface for control modes with impedance settings.

See Also:

CartesianImpedanceControlMode, CartesianSineImpedanceControlMode, JointImpedanceControlMode

Method Summary

double[]

getMaxJointDeltas() Gets the maximum joint deltas for this strategy.

Methods inherited from interface com.kuka.roboticsAPI.motionModel.controlModeModel.IMotionControlMode

getMaxJointSpeed, isDeviceSupported, isRecoverable, needsMeasuredValues, noCommandedMeasuredDevianceIntended

Method Detail

getMaxJointDeltas

double[] getMaxJointDeltas()

Gets the maximum joint deltas for this strategy. The motion will stop if the measured and commanded values differ more than the given values.

Returns:

The maximum joint deltas. May be null to indicate default values.

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