A C G H I M N S T V

A

addAxisValidator(ISunriseRobot) - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingControlModeMapper
 
addStopConditions(SPR, Module, StopEvaluatorModule) - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingMapper
Add stop conditions to SPR, i.e. speed limit exceeded, hand-guiding device released, and closing brakes.

C

com.kuka.roboticsAPI.controllerModel.sunrise.mapping - package com.kuka.roboticsAPI.controllerModel.sunrise.mapping
Contains classes for for mapping the hand guiding motion and control mode.
com.kuka.roboticsAPI.motionModel - package com.kuka.roboticsAPI.motionModel
Contains classes the motion of hand guided motions.
com.kuka.roboticsAPI.motionModel.controlModeModel - package com.kuka.roboticsAPI.motionModel.controlModeModel
Contains classes the control mode of hand guided motions.
configureHandGuidingSPR(SPR, Robot, RobotObserver, IKROSMotion, AbstractFrame) - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingMapper
Configures hand-guiding SPR.
configureRuntimeData(SunriseMappingToken, IKROSMotion, SPR) - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingMapper
Configures hand-guiding runtime data.
configureStopConditions(SPR, HandGuidingModule, Robot) - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingMapper
Add stop conditions to SPR.

G

getAdaptedQSpeedLimitOutPort() - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingModule
gets the adapted axis speed limit out port.
getAxisLimitsEnabled() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Deprecated. Use getJointLimitsEnabled() instead.Get whether user-specified joint limits during handguiding motion are enabled. The returned value may be null, if the user has not enabled or disabled specific joints yet.
getAxisLimitsMax() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Deprecated. Use getJointLimitsMax() instead. Get joint limits during handguiding motion in positive direction. The returned value may be null, if no user-specified joint limits in positive direction have been set yet.
getAxisLimitsMin() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Deprecated. Use getJointLimitsMin() instead. Get joint limits during handguiding motion in negative direction. The returned value may be null, if no user-specified joint limits in negative direction have been set yet.
getAxisSpeedLimit() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Deprecated. Use getJointVelocityLimit() instead. Get allowed joint velocity. When this velocity limit is exceeded a damping effect is applied (opposing torque).
getAxQCmdPort() - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingModule
gets the axis command out port.
getCartVelocityLimit() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Get allowed Cartesian velocity.
getConditions() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
 
getDampingOutPort() - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingModule
gets the damping out port.
getFinishMaintainingPort() - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingModule
gets the out port for possible break closing.
getJointLimitsEnabled() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Get whether user-specified joint limits during handguiding motion are enabled.
getJointLimitsMax() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Get joint limits during handguiding motion in positive direction.
getJointLimitsMin() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Get joint limits during handguiding motion in negative direction.
getJointVelocityLimit() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Get allowed joint velocity.
getMappingTypes() - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingControlModeMapper
 
getMappingTypes() - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingMapper
 
getMode() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
 
getStiffnessOutPort() - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingModule
gets the stiffness out port.
getStopRequestInPort() - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingModule
gets the in port for stop requests.
getStopRequestOutPort() - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingModule
Gets the out port for stop requests.
getTargetReachedOutPort() - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingModule
gets the target reached out port.
getVoEnableState() - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingModule
gets the in port for the hand-guiding enabling device status

H

handGuiding() - Static method in class com.kuka.roboticsAPI.motionModel.HRCMotions
Creates a hand-guiding motion.
HANDGUIDING_MODULE_NAME - Static variable in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingModule
Name of gravitiy compensation module.
HandGuidingControlMode - Class in com.kuka.roboticsAPI.motionModel.controlModeModel
The default control mode for hand guiding motions.
HandGuidingControlMode() - Constructor for class com.kuka.roboticsAPI.motionModel.controlModeModel.HandGuidingControlMode
Creates a new instance of HandGuidingMotion with no parameters.
HandGuidingControlModeMapper - Class in com.kuka.roboticsAPI.controllerModel.sunrise.mapping
Mapper for HandGuidingControlMode.
HandGuidingControlModeMapper() - Constructor for class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingControlModeMapper
 
HandGuidingMapper - Class in com.kuka.roboticsAPI.controllerModel.sunrise.mapping
Mapper for HandGuidingMotion.
HandGuidingMapper() - Constructor for class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingMapper
 
HandGuidingModule - Class in com.kuka.roboticsAPI.controllerModel.sunrise.mapping
Module for handguiding motions.
HandGuidingModule() - Constructor for class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingModule
Create a new instance of the HandGuidingModule and creates the available ports.
HandGuidingMotion - Class in com.kuka.roboticsAPI.motionModel
Using the Handguiding motion command will bring the robot into a mode, which enables it to be moved by the handguiding device.
HandGuidingMotion() - Constructor for class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Creates a new HandGuidingMotion with the default hand guiding control mode.
hasConditions() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
 
hasMotionOverlay() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
 
hasTrigger() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
 
HRCMotions - Class in com.kuka.roboticsAPI.motionModel
Utility class to execute HRC (Human Robot Collaboration) motions.

I

isApplicableFor(IMotionControlMode) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
 
isAxisLimitViolationFreezesAll() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Deprecated. Use isJointLimitViolationFreezesAll() instead. Get whether on joint limit violation all joints should be frozen.
isDeviceSupported(Device) - Method in class com.kuka.roboticsAPI.motionModel.controlModeModel.HandGuidingControlMode
 
isJointLimitViolationFreezesAll() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Get whether on joint limit violation all joints should be frozen.
isPermanentPullOnViolationAtStart() - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Get whether on joint limit violation at the start of the motion there is a permanent pull towards the joint limit.
isRecoverable() - Method in class com.kuka.roboticsAPI.motionModel.controlModeModel.HandGuidingControlMode
 

M

map(SunriseMappingToken) - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingMapper
 
mapControlMode(SunriseMappingToken, IMotionControlMode, DeviceMappingResult) - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingControlModeMapper
 
mapControlMode(SunriseMappingToken, Robot, IKROSMotion) - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingMapper
Map hand-guiding control mode.

N

needsMeasuredValues(IMotionControlMode) - Method in class com.kuka.roboticsAPI.motionModel.controlModeModel.HandGuidingControlMode
 
noCommandedMeasuredDevianceIntended() - Method in class com.kuka.roboticsAPI.motionModel.controlModeModel.HandGuidingControlMode
 
normalizeControlMode(SunriseMappingToken, IMotionControlMode) - Method in class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingControlModeMapper
 

S

setAxisLimitsEnabled(boolean...) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Deprecated. Use setJointLimitsEnabled(boolean...) instead. Set whether user-specified joint limits during handguiding motion are enabled.
setAxisLimitsMax(double...) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Deprecated. Use setJointLimitsMax(double...) instead. Set joint limits during handguiding motion in positive direction.
setAxisLimitsMin(double...) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Deprecated. Use setJointLimitsMin(double...) instead. Set joint limits during handguiding motion in negative direction.
setAxisLimitViolationFreezesAll(boolean) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Deprecated. Use setJointLimitViolationFreezesAll(boolean) instead. Set whether on joint limit violation all joints should be frozen. If this value is not set, it defaults to true.
setAxisSpeedLimit(double) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Deprecated. Use setJointVelocityLimit(double) instead. Set the allowed joint velocity in rad/sec. When this velocity limit is exceeded a damping effect is applied (opposing torque).
setCartVelocityLimit(double) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Set the allowed Cartesian velocity in mm/sec.
setJointLimitsEnabled(boolean...) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Set whether user-specified joint limits during handguiding motion are enabled.
setJointLimitsMax(double...) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Set joint limits during handguiding motion in positive direction.
setJointLimitsMin(double...) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Set joint limits during handguiding motion in negative direction.
setJointLimitViolationFreezesAll(boolean) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Set whether on joint limit violation all joints should be frozen.
setJointVelocityLimit(double) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Set the allowed joint velocity in rad/sec.
setPermanentPullOnViolationAtStart(boolean) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Set whether on joint limit violation at the start of the motion there is a permanent pull towards the joint limit.

T

toString() - Method in class com.kuka.roboticsAPI.motionModel.controlModeModel.HandGuidingControlMode
 

V

validateAxisLimits(int) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Deprecated. Use validateJointLimits(int) instead. Check if configured joint limits are consistent, and throw an IllegalArgumentException otherwise.
validateJointLimits(int) - Method in class com.kuka.roboticsAPI.motionModel.HandGuidingMotion
Check if configured joint limits are consistent, and throw an IllegalArgumentException otherwise.

A C G H I M N S T V

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