I am currently working on a project with KMR200. I want to move the robot by sending commands in form of velocity, not including a destination in form of a pose.
I have tested the class MobilePlatformVelocityMotion in the package com.kuka.roboticsAPI.motionModel.kmp without success. No errors are received, and the robot is not moving.
The relevant part of the application is attached. The application is launched from the smartPAD in operation mode T1 (with the enable motion button pressed) and different velocities in x-direction in range 100-300 mm/s have been tested.
Do someone have an idea of why this is not working, or how the KMR can be moved by sending sequential velocity commands?
Sunrise.Mobility 1.10 KMP 200
Sunrise.Mobility 1..10 KMP_KMR oM