Hi,
Is possible move the Kuka LBR IIWA linearly in a surface (with a tool in flange) and applying a constant force in this surface ?
Thanks.
Hi,
Is possible move the Kuka LBR IIWA linearly in a surface (with a tool in flange) and applying a constant force in this surface ?
Thanks.
import javax.inject.Inject;
import javax.inject.Named;
import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import static com.kuka.roboticsAPI.motionModel.BasicMotions.*;
import com.kuka.roboticsAPI.geometricModel.CartDOF;
import com.kuka.roboticsAPI.geometricModel.Tool;
import com.kuka.roboticsAPI.motionModel.controlModeModel.CartesianImpedanceControlMode;
import com.kuka.roboticsAPI.motionModel.controlModeModel.CartesianSineImpedanceControlMode;
public class testApp extends RoboticsAPIApplication {
@Inject
@Named("ToolTemplate")
Tool myTool;
@Override
public void initialize() {
}
@Override
public void run() {
CartesianImpedanceControlMode impedanceMode;
impedanceMode = CartesianSineImpedanceControlMode.createDesiredForce(CartDOF.Z, 2, 500);
myTool.getDefaultMotionFrame().move(ptpHome().setMode(impedanceMode));
}
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Never tried and tested this code, be careful.
If that doesn't work try adding a motion overlay to your motion, like tool.move(ptp(xxx).addMotionOverlay(myMotionOverlay));
I don't know how to create and paramaterize the IMotionOverlay.
Hi,
use the CartesianSineImpedanceControlMode (import com.kuka.roboticsAPI.motionModel.controlModeModel.CartesianSineImpedanceControlMode;) in Combination to a "lin" Motion.
DrG
PS: NullReference: The "addMotionOverlay" is not used for this kind of purposes, but it is used in combiation to FRI.