Hi,
I am trying to implement a function of monitoring a predefined safety zone. The robot is iiwa lbr 14 820.
Here is what I want to do in detail: I define a safety zone, a cubic for example, in my external PC, and I can obtain the real-time robot flange frame in external PC through Ethernet, and I compare their coordinates. Once the robot flange is at or out of the safety zone, I need the robot to stop immediately. Notice that all the motion is either in the form of "move/moveAsync(positionHold(...))" or "move/moveAsync(handGuiding(...))", with human operator involved instead of pure automatic motion.
I tried to implement this by calling the cancel command of motionContainer, but somehow, even if the command was executed, the motion keeped.
My another idea is using a breakWhen. However, I didn't find a proper Condition to use. And I wonder if it is possible to customize a user condition.
Hope the description is clear.
I am stuck here for a while. So any help or idea would be very much appreciated.
Thank you very much.