Resume program after collision detection

    Hi There!

    I am working on commissioning an LBR iiwa to work collaboratively with humans.

    Collision detection via the HRC option is already active @ Max external torque: 20Nm.

    One part of the process is as follows:
    1. Robot is moving normally, operator taps the robot and the robot stops.
    2. The robot has stopped and holds its position under impedance control mode.
    3. The user 'taps' the robot again and it continues on its planned path.

    I have done this via wrapping motions in MotionContainers:

    Code
    condition = createCollisionCondition();	

                IMotionContainer motion;
		do { // motion started
			motion = festoTool.move(ptp(myFrame).breakWhen(condition));
			if (motion.hasFired(condition)){
				resumeAfterCollision();
			}
		} while (motion.getFiredBreakConditionInfo() != null); // motion finished

    The Collision condition:

    My problem is that this will only work for Single motions.
    I would like to be able to do this using Approximations motions or batch motions, however after the collision it always will return the beginning of the first motion in the block.

    Any ideas would be greatly appreciated! :help:

    cheers!!

    Quote

    Collision detection via the HRC option is already active @ Max external torque: 20Nm.


    Means with an PSM?
    In special the AMF 'Collision detection'?!
    See attachment. I am to stupid to insert it here.

    Do you have the option package 'HRC'?! If not it is not safe for humans.
    See attachment. I am to stupid to insert it here.

    Quote

    1. Robot is moving normally, operator taps the robot and the robot stops.


    The tap can be from any direction?! But you are defined torques on joints and not a force.
    Difference to collision detection?!
    I would prefere something like:

    Code
    ForceComponentCondition fCon = new ForceComponentCondition(World.Current.getRootFrame(), CoordinateAxis.Z, -30, 10);
    Quote

    2. The robot has stopped and holds its position under impedance control mode.


    Is there a reason why you use the impedance control mode?

    Quote

    3. The user 'taps' the robot again and it continues on its planned path.


    You current condition is to rotate the robot a little bit? Because you checke on Joint1...

    Quote

    I would like to be able to do this using Approximations motions or batch motions, however after the collision it always will return the beginning of the first motion in the block.


    Sounds like you set the breakWhen on the complete MotionBatch and not on the single motions.

    Hi Razzo!

    If I use a break when on an individual motion within a motion block, I am not able to approximate using moveAsync.

    This is the only issue I am having, the other information was just for background..
    HRC is installed and all other parts of the robot program are exactly how I want them.

    My only issue is trying to approximate motions while still monitoring for a collision..

    Cheers for the response!

    You can use this

    Code
    getApplicationControl().setApplicationOverride(0);


    when you detect a human contact, so the robot stands still, and when you want it to get back moving, just use this

    Code
    getApplicationControl().setApplicationOverride(1);


    when you touch it again.

    you could try to inject IApplicationOverrideControl

    Code
    @Inject
private IApplicationOverrideControl oc;

    And then set the value with your ProcessData or something else which should be done with something like this:

    Code
    oc.setApplicationOverride((Double) getApplicationData().getProcessData("myAppOverRide").getValue());

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