com.kuka.roboticsAPI.motionModel.stopConditions
Class ForceStopCondition

java.lang.Object
  com.kuka.roboticsAPI.motionModel.stopConditions.MotionStopCondition
      com.kuka.roboticsAPI.motionModel.stopConditions.ForceStopCondition

All Implemented Interfaces:

IStopCondition, ICondition, IMotionStopCondition

public class ForceStopCondition
extends MotionStopCondition

A stop condition describing valid ranges for forces.

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

Constructor Summary

ForceStopCondition()
Creates a new force stop condition.

Method Summary

double	getFeasibleMax() Get a feasible max value for this stop condition.
double	getFeasibleMin() Get a feasible min value for this stop condition.
ObjectFrame	getMeasureFrame() Gets the measure frame at which the force will get measured.
Frame	getPositionOfMeasureFrameWhenFired() Returns the position of the measure frame relative to world.
DoubleRange[]	getRanges() Gets all ranges of this stop condition in the following order: fX, fY, fZ, tX, tY, tZ in [N] or [Nm], respectively.
ForceStopCondition	markAsErrorStopCondition() /** Marks this stop condition as an error stop condition.
ForceStopCondition	markAsErrorStopCondition(String errorMessage) Marks this stop condition as an error stop condition.
ForceStopCondition	setMeasureFrame(ObjectFrame measureFrame) Sets the frame at which the force will get measured.
void	setReturnValues(ITransformation worldBase, ITransformation retVal, ITransformation flangeMeasureFrame) Sets the values when the stop condition hits.
String	toString()
ForceStopCondition	validForce(Vector forceThreshold) Defines the valid force given through a vector in X, Y and Z directions.
ForceStopCondition	validForceX(double min, double max) Defines the valid force in X range.
ForceStopCondition	validForceY(double min, double max) Defines the valid force in Y range.
ForceStopCondition	validForceZ(double min, double max) Defines the valid force in Z range.
ForceStopCondition	validTorqueX(double min, double max) Defines the valid torque around X axis.
ForceStopCondition	validTorqueY(double min, double max) Defines the valid torque around Y axis.
ForceStopCondition	validTorqueZ(double min, double max) Defines the valid torque around Z axis.

Methods inherited from class com.kuka.roboticsAPI.motionModel.stopConditions.MotionStopCondition

and, getErrorMessage, invert, or, xor

Methods inherited from class java.lang.Object

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

Constructor Detail

ForceStopCondition

public ForceStopCondition()

Creates a new force stop condition.

By default, the defaultMotionFrame of the object being moved will be the frame, where force measurement will take place. To use a different frame for force measurement, use the setMeasureFrame(ObjectFrame) method.

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

Method Detail

markAsErrorStopCondition

public ForceStopCondition markAsErrorStopCondition()

/** Marks this stop condition as an error stop condition.

If the motion is stopped due to this stop condition, the assigned container goes to state invalid and will throw an appropriate exception with no error message.

Overrides:

markAsErrorStopCondition in class MotionStopCondition

Returns:

This stop condition.

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

markAsErrorStopCondition

public ForceStopCondition markAsErrorStopCondition(String errorMessage)

Marks this stop condition as an error stop condition.

If the motion is stopped due to this stop condition, the assigned container goes to state invalid and will throw an appropriate exception with the specified error message.

Overrides:

markAsErrorStopCondition in class MotionStopCondition

Parameters:

errorMessage - The optional error message which should be inserted by the SunriseController. May be null.

Returns:

This stop condition.

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

validForce

public ForceStopCondition validForce(Vector forceThreshold)

Defines the valid force given through a vector in X, Y and Z directions.

Note that the values are interpreted as absolute values an will be used to define a range from -value to +value. Please note also that if a value of the vector is less than 1.0, it will be interpreted as 0 and not added to the stop condition.

Parameters:

forceThreshold - The threshold. Values in [N]. If value is less or bigger than the feasible min or maximum, the value will get clipped.

Returns:

This stop condition.

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

validForceX

public ForceStopCondition validForceX(double min,
                                      double max)

Defines the valid force in X range.

Parameters:

min - The minimum. Value in [N]. If value is less than the feasible min, this value will get clipped.

max - The maximum. Value in [N]. If value is greater than the feasible max, this value will get clipped.

Returns:

This stop condition.

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

validForceY

public ForceStopCondition validForceY(double min,
                                      double max)

Defines the valid force in Y range.

Parameters:

min - The minimum. Value in [N]. If value is less than the feasible min, this value will get clipped.

max - The maximum. Value in [N]. If value is greater than the feasible max, this value will get clipped.

Returns:

This stop condition.

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

validForceZ

public ForceStopCondition validForceZ(double min,
                                      double max)

Defines the valid force in Z range.

Parameters:

min - The minimum. Value in [N]. If value is less than the feasible min, this value will get clipped.

max - The maximum. Value in [N]. If value is greater than the feasible max, this value will get clipped.

Returns:

This stop condition.

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

validTorqueX

public ForceStopCondition validTorqueX(double min,
                                       double max)

Defines the valid torque around X axis.

Parameters:

min - The minimum. Value in [Nm]. If value is less than the feasible min, this value will get clipped.

max - The maximum. Value in [Nm]. If value is greater than the feasible max, this value will get clipped.

Returns:

This stop condition.

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

validTorqueY

public ForceStopCondition validTorqueY(double min,
                                       double max)

Defines the valid torque around Y axis.

Parameters:

min - The minimum. Value in [Nm]. If value is less than the feasible min, this value will get clipped.

max - The maximum. Value in [Nm]. If value is greater than the feasible max, this value will get clipped.

Returns:

This stop condition.

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

validTorqueZ

public ForceStopCondition validTorqueZ(double min,
                                       double max)

Defines the valid torque around Z axis.

Parameters:

min - The minimum. Value in [Nm]. If value is less than the feasible min, this value will get clipped.

max - The maximum. Value in [Nm]. If value is greater than the feasible max, this value will get clipped.

Returns:

This stop condition.

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

setMeasureFrame

public ForceStopCondition setMeasureFrame(ObjectFrame measureFrame)

Sets the frame at which the force will get measured. Set it to null to use the measure frame configured for the force sensor.

The must exist a connection between the robot flange on which the force is measured and the specified measure frame, otherwise, the command will fail.

Parameters:

measureFrame - The frame.

Returns:

This stop condition.

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

getMeasureFrame

public ObjectFrame getMeasureFrame()

Gets the measure frame at which the force will get measured. Will be null to indicate that the configured measure frame of the sensor should be used.

Returns:

The measure frame.

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

getRanges

public DoubleRange[] getRanges()

Gets all ranges of this stop condition in the following order: fX, fY, fZ, tX, tY, tZ in [N] or [Nm], respectively.

Returns:

All ranges of this stop condition in the order: fX, fY, fZ, tX, tY, tZ in [N] or [Nm], respectively.

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

getFeasibleMax

public final double getFeasibleMax()

Get a feasible max value for this stop condition.

Returns:

A feasible max value for this stop condition.

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

getFeasibleMin

public final double getFeasibleMin()

Get a feasible min value for this stop condition.

Returns:

A feasible min value for this stop condition.

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

toString

public String toString()

Overrides:

toString in class Object

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

getPositionOfMeasureFrameWhenFired

public Frame getPositionOfMeasureFrameWhenFired()

Returns the position of the measure frame relative to world. Will only be valid when the stop condition has fired and the command is finished.

Returns:

The position of the measure frame relative to world.

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

setReturnValues

public void setReturnValues(ITransformation worldBase,
                            ITransformation retVal,
                            ITransformation flangeMeasureFrame)

Sets the values when the stop condition hits. Do not call this method directly. It must be called by a controller implementation, which must ensure, that the matrices are filled correctly when the condition hits.

Parameters:

worldBase - The offset from the world to the moving robot.

retVal - The value containing the position of the flange when the stop condition has fired.

flangeMeasureFrame - The offset from the moving robot flange to the measure frame.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.