Advertising

Moving linearly with constant force

  • 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.


  • 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.

Create an account or sign in to comment

You need to be a member in order to leave a comment

Create an account
Sign up for a new account in our community. It's easy!
Register a new account
Sign in
Already have an account? Sign in here.
Sign in Now