com.kuka.roboticsAPI.params
Class RobotParameterSetBuilder

java.lang.Object
  com.kuka.common.params.AbstractParameterSetBuilder<RobotParameterSetBuilder>
      com.kuka.roboticsAPI.params.RobotParameterSetBuilder

All Implemented Interfaces:

com.kuka.common.params.IParameterSetBuilder<RobotParameterSetBuilder>

public final class RobotParameterSetBuilder
extends com.kuka.common.params.AbstractParameterSetBuilder<RobotParameterSetBuilder>

A parameter set builder for RobotParameterSet instances. It is used to create a set of robot parameters. Each call of a set-method creates a new respective parameter and adds it to the set. Then it returns the set, so that the calls can be chained like this: builder.setJointVelocityRel(1).setJointAccelerationRel(1).

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

Constructor Summary

RobotParameterSetBuilder()
Creates a new instance of this builder.

Method Summary

RobotParameterSet	build()
RobotParameterSetBuilder	setBehaviorAuxPoint(CircAuxPointBehavior value) TODO Team Pink.
RobotParameterSetBuilder	setBehaviorTargetPoint(CircEndPointBehavior value) TODO Team Pink.
RobotParameterSetBuilder	setBlendingCart(double blending) Sets the absolute blending value for this motion in mm.
RobotParameterSetBuilder	setBlendingOri(double blending) Sets the relative orientation blending.
RobotParameterSetBuilder	setBlendingRel(double blending) Sets the blending distance from the destination of the motion.
RobotParameterSetBuilder	setCartAcceleration(double acceleration) Sets the absolute acceleration in mm/s^2.
RobotParameterSetBuilder	setCartJerk(double value) Sets the absolute jerk in mm/s^3.
RobotParameterSetBuilder	setCartVelocity(double value) Sets the absolute velocity in mm/s.
RobotParameterSetBuilder	setJointAccelerationRel(double acceleration) Sets the relative acceleration.
RobotParameterSetBuilder	setJointJerkRel(double jerk) Sets the relative jerk.
RobotParameterSetBuilder	setJointVelocityRel(double value) Sets the relative velocity.
RobotParameterSetBuilder	setMode(IMotionControlMode mode) Sets the control mode (position or impedance).
RobotParameterSetBuilder	setOriRefSystem(OrientationReferenceSystem oriType) Sets for CIRC motions, whether the orientation control is to be base-related or path-related.
RobotParameterSetBuilder	setOriType(SplineOrientationType oriType) Sets the orientation control for LIN, CIRC and SPLINE motions.

Methods inherited from class com.kuka.common.params.AbstractParameterSetBuilder

addMissingFrom, isEmpty, name, name, parameters, put, put, remove, self

Methods inherited from class java.lang.Object

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

Constructor Detail

RobotParameterSetBuilder

public RobotParameterSetBuilder()

Creates a new instance of this builder.

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

Method Detail

build

public RobotParameterSet build()

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

setJointVelocityRel

public RobotParameterSetBuilder setJointVelocityRel(double value)

Sets the relative velocity.

Parameters:

value - The relative velocity for a robot motion. The value must be greater than 0 and smaller or equal to 1. 0 means 0% of the maximum value, 1 means 100% percent of the maximum value.

Returns:

this builder

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

setJointAccelerationRel

public RobotParameterSetBuilder setJointAccelerationRel(double acceleration)

Sets the relative acceleration.

Parameters:

acceleration - The relative acceleration. The value must be greater than 0 and smaller or equal to 1. 0 means 0% of the maximum value, 1 means 100% percent of the maximum value.

Returns:

this builder

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

setJointJerkRel

public RobotParameterSetBuilder setJointJerkRel(double jerk)

Sets the relative jerk.

Parameters:

jerk - The relative jerk. The value must be greater than 0 and smaller or equal to 1. 0 means 0% of the maximum value, 1 means 100% percent of the maximum value.

Returns:

this builder

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

setCartVelocity

public RobotParameterSetBuilder setCartVelocity(double value)

Sets the absolute velocity in mm/s.

Parameters:

value - The absolute velocity for a robot motion in mm/s.

Returns:

this builder

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

setCartAcceleration

public RobotParameterSetBuilder setCartAcceleration(double acceleration)

Sets the absolute acceleration in mm/s^2.

Parameters:

acceleration - The absolute acceleration in mm/s^2.

Returns:

this builder

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

setCartJerk

public RobotParameterSetBuilder setCartJerk(double value)

Sets the absolute jerk in mm/s^3.

Parameters:

value - The absolute jerk for a robot motion in mm/s^3.

Returns:

this builder

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

setBlendingRel

public RobotParameterSetBuilder setBlendingRel(double blending)

Sets the blending distance from the destination of the motion.

For joint-specific motions (like PTP) blendingRel applies to all axes.

CAUTION! For Cartesian motions (like LIN, SPL, CIRC...) the blendingRel refers only to external axes and the A1-redundancy. Especially if blendingRel is greater than 0 and the external axes or the redundancy don't change, the minimal possible blending will be turned on. In this case changing the value of blendingRel won't result in a different path.

It may occur that the next motion command doesn't arrive in time to be included in the path planning. In this case the motion will stop at the point, where the blending condition applied (also known as the blending point).
As soon as the next motion command arrives, the motion will be planned with blending. The path is the same as if the next command had arrived in time.
HINT: that means, if there is no next command, the motion stops at the blending point, not at the destination. Keep this in mind when setting any blending on the last motion command !

It is possible for the specified value to be too small for the robot to be able to complete the programmed path. Therefore, a restriction is in place that sets values below 0.05 to 0. The robot will perform an exact stop at the destination.

Parameters:

blending - The distance. Must be between 0 and 1.
0 - no blending, the motion will stop at the destination, all values below 0.05 will be handled like 0
1 - maximal possible blending, i.e. the blending distance covers half of the range of the motion.

Returns:

this builder

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

setBlendingCart

public RobotParameterSetBuilder setBlendingCart(double blending)

Sets the absolute blending value for this motion in mm.

The specified value is a maximal value for the motion, however it is possible that it will not be reached during the execution of the motion because of other motion planning restrictions.
When blending is used with a move(), or a moveAsync() command and the next motion command does not come in time to be included in the path planning, the motion will stop at that point, where the blending condition applies. As soon as the next command arrives the motion will be planned with blending. The path of a interrupted motion is equivalent to a fluent motion where the next command arrives in time for planning.

It is possible for the specified value to be too small for the robot to be able to complete the programmed path. Therefore, a restriction is in place that sets values below 4mm to 0. The robot will perform an exact stop at the destination.

Parameters:

blending - the absolute blending value for this motion in mm. This value must be positive or zero. 0 = no blending, the motion will stop at the destination
Values below 4 will be ignored. No blending will be done.

Returns:

this builder

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

setBlendingOri

public RobotParameterSetBuilder setBlendingOri(double blending)

Sets the relative orientation blending.

Parameters:

blending - The orientation blending in rad/s. TODO or is it °/s ?

Returns:

this builder

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

setOriType

public RobotParameterSetBuilder setOriType(SplineOrientationType oriType)

Sets the orientation control for LIN, CIRC and SPLINE motions.

Parameters:

oriType - orientation type (s. comments in SplineOrientationType)

Returns:

this builder

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

setOriRefSystem

public RobotParameterSetBuilder setOriRefSystem(OrientationReferenceSystem oriType)

Sets for CIRC motions, whether the orientation control is to be base-related or path-related.

Parameters:

oriType - orientation type (s. comments in OriRefSystemEnum)

Returns:

this builder

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

setBehaviorAuxPoint

public RobotParameterSetBuilder setBehaviorAuxPoint(CircAuxPointBehavior value)

TODO Team Pink.

Returns:

setBehaviorTargetPoint

public RobotParameterSetBuilder setBehaviorTargetPoint(CircEndPointBehavior value)

TODO Team Pink.

Returns:

setMode

public RobotParameterSetBuilder setMode(IMotionControlMode mode)

Sets the control mode (position or impedance).

Parameters:

mode - The control mode. null is not allowed.

Returns:

this builder

See Also:

IMotionControlMode

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