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.
Moving linearly with constant force
- world.robot
- Thread is marked as Resolved.
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Code
Display Moreimport 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)); }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.
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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.
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