I'm using a LBR iiwa 7 R800 with Sunrise OS/Workbench 1.16.
I have program that reads points from a .csv file and modifies a frame ("framePoint") which the robot moves.
Basically it reads the data file then parses each line into the appropriate data to modify the framePoint then instructs the robot to move to the point.
Below is the basic code:
// Define frame based on point values
ObjectFrame P3 = getApplicationData().getFrame("/Virtual_PET/Corrected_PET/P1");
Frame framePoint = P3.copyWithRedundancy();
framePoint.setX(x);
framePoint.setY(y);
framePoint.setZ(z);
framePoint.setAlphaRad(a);
framePoint.setBetaRad(b);
framePoint.setGammaRad(g);
// Move to the point location
//lbr.move(ptp(framePoint).setJointVelocityRel(vel));
lbr.move(lin(framePoint).setJointVelocityRel(vel));
My question is how would I modify this so that I can read in all the points and create a CP or JP Spline move with these points?
I see in the manual it has an example to do the following:
Spline mySpline = new Spline(
spl(getApplicationData().getFrame("/P1")),
circ(getApplicationData().getFrame("/P2"),
getApplicationData().getFrame("/P3")),
spl(getApplicationData().getFrame("/P4"))
.setCartVelocity(150),
lin(getApplicationData().getFrame("/P5"))
).setCartVelocity(250);
How would I use this to make a continuous spline move from the .csv data file points?
TIA