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Kuka Class API Reference

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PeijieXu edited this page Oct 9, 2022 · 8 revisions

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Inner Class

cam::Kuka::EndEffectorState Class

This class works as a client for the End Effector State Services. If you want to record cartesian position path, wrench along the path, or get the real time cartesian position of the end effector during the runtime of a c++ program, you need to start this server before you run the c++ program. The usage is elaborated in the above link.

Member Functions

set_vel_acc_drop

bool set_vel_acc_drop(const double vel = 0.1, const double acc = 0.1, 
                      const double override_acc = 1.0)

Set the velocity, accelaration, override accelaration(refer its description in the KUKA manuals) of droppable move including move_joint_ptp_drop, move_cart_ptp_drop

Demo File: cartesian_lin_drop_pose_control_node.cpp

set_vel_acc_lin_drop

bool set_vel_acc_lin_drop(const double vel = 0.1, const double acc = 0.1,
                          const double override_acc = 1.0)

Set the velocity, accelaration, override accelaration(refer its description in the KUKA manuals) of droppable cartesian linear move: move_cart_lin_drop

Demo File: cartesian_lin_drop_pose_control_node.cpp

set_vel_acc

bool set_vel_acc(const double vel = 0.1, const double acc = 0.1)

Set the velocity and accelaration of joint space. This function controls the velocity and accelaration of move_joint_ptp, move_cart_ptp

Demo File: cartesian_lin_pose_control_node.cpp

set_cart_traj_vel_acc

bool set_cart_traj_vel_acc(const double maxCartesianVelocity = 0.1,
                           const double maxOrientationVelocity = 0.5,
                           const double maxCartesianAcceleration = 0.2,
                           const double maxOrientationAcceleration = 0.1,
                           const double maxCartesianJerk = -1.0,
                           const double maxOrientationJerk = -1.0)

Set the velocity, accelaration, and jerk in cartesian space. This function controls the velocity, accelaration, and jerk of exe_cart_traj

Demo File: cartesian_spline_node.cpp

get_recorded_frames

KukaTreeNode *get_recorded_frames();

Get the saved frames from teaching pendant, the direct children of the world frame should be named as "P[nubmer]", e.g., "P0", "P1" ~ "P99"

Demo File: get_frames_node.cpp

end_effector_state

EndEffectorState &end_effector_state()

Get the End Effector State object of this kuka, which allows recording path and getting the real time cartesian position

See usage at End Effector State Services

move_joint_ptp

void move_joint_ptp(KukaTreeNode *node, const double sleep_time = 500.0);

void move_joint_ptp(const std::vector<double> &vec,
                    const double sleep_time = 500.0);


void move_joint_ptp(const double &j1, const double &j2, const double &j3,
                    const double &j4, const double &j5, const double &j6,
                    const double &j7, const double sleep_time = 500.0);

Move kuka point to point (PTP) assigned by joint space goal. The unit of joint position is radiant

Demo File: joint_pose_control_node.cpp

move_joint_ptp_drop

void move_joint_ptp_drop(const std::vector<double> &vec);

void move_joint_ptp_drop(const double &j1, const double &j2, const double &j3,
                         const double &j4, const double &j5, const double &j6,
                         const double &j7);

Move kuka point to point (PTP) assigned by joint space goal. The unit of joint position is radiant. The robot will abandon previous goal when it receive a new goal, even when it is still executing.

move_cart_ptp

void move_cart_ptp(KukaTreeNode *node, const double sleep_time = 500.0);

void move_cart_ptp(const geometry_msgs::Pose &pose,
                   const int status = UNDEFINED_STATUS,
                   const double sleep_time = 500.0);

void move_cart_ptp(const double &posX, const double &posY, const double &posZ,
                   const double &oriW, const double &oriX, const double &oriY,
                   const double &oriZ, const int status = UNDEFINED_STATUS,
                   const double sleep_time = 500.0);

Move kuka point to point (PTP) assigned by cartesian space goal. The unit of cartesian position is meter

Demo File: cartesian_ptp_pose_control_node.cpp

move_cart_ptp_drop

void move_cart_ptp_drop(const geometry_msgs::Pose &pose);

void move_cart_ptp_drop(const double &posX, const double &posY,
                        const double &posZ, const double &oriW,
                        const double &oriX, const double &oriY,
                        const double &oriZ);

Move kuka point to point (PTP) assigned by cartesian space goal. The unit of cartesian position is meter. The robot will abandon previous goal when it receive a new goal, even when it is still executing.

Demo File: cartesian_ptp_drop_pose_control_node.cpp

move_cart_lin

void move_cart_lin(geometry_msgs::Pose &pose,
                   const int status = UNDEFINED_STATUS,
                   const double sleep_time = 500.0);

void move_cart_lin(const double &posX, const double &posY, const double &posZ,
                   const double &oriW, const double &oriX, const double &oriY,
                   const double &oriZ, const int status = UNDEFINED_STATUS,
                   const double sleep_time = 500.0);

Move kuka linearly (LIN) assigned by cartesian space goal. The unit of cartesian position is meter

Demo File: cartesian_lin_pose_control_node.cpp

move_cart_lin_drop

void move_cart_lin_drop(const geometry_msgs::Pose &pose)

Move kuka linearly (LIN) assigned by cartesian space goal. The unit of cartesian position is meter. The robot will abandon previous goal when it receive a new goal, even when it is still executing.

Demo File: cartesian_lin_drop_pose_control_node.cpp

exe_cart_traj

void exe_cart_traj(const std::vector<geometry_msgs::Pose> &trajectory,
                   const std::vector<int> &status)

Move robot along a trajectory in cartesian space, use set_cart_traj_vel_acc() before this method to set speed

Demo File: cartesian_spline_node.cpp

exe_joint_traj

// using joint impedance control mode
void exe_joint_traj(const moveit_msgs::RobotTrajectory &trajectory,
                    const float velocity, const std::vector<float> &stiff,
                    const std::vector<float> &damp);

// using cartesian impedance control mode
void exe_joint_traj(const moveit_msgs::RobotTrajectory &trajectory,
                    const float velocity = 0.1, const float stiffX = 2000,
                    const float stiffY = 2000, const float stiffZ = 2000,
                    const float dampX = 0.7, const float dampY = 0.7,
                    const float dampZ = 0.7);

// using user-assigned mode 
// (POSITION_CONTROL_MODE, JOINT_IMPEDANCE_MODE, CARTESIAN_IMPEDANCE_MODE)
void exe_joint_traj(
      const std::vector<trajectory_msgs::JointTrajectoryPoint> &trajectory,
      const float velocity, 
      const std::vector<float> &stiff,
      const std::vector<float> &damp,
      JOINT_SPLINE_MODE mode = JOINT_SPLINE_MODE::POSITION_CONTROL_MODE);

Move robot along a trajectory in joint space, using joint/cartesian impedance control mode

  • velocity: joint space velocity
  • stiffX, stiffY, stiffZ: stiffness on X, Y, and Z, (0.1 ~ 5000)
  • dampX, dampY, dampZ: damping on X, Y, and Z, (0.1 ~ 1.0)
  • stiff, damp: stiffness and damping on 7 joints (when using joint impedance control mode)
  • stiff, damp: stiffness and damping (size is 3 or 7 when using user assigned mode)

Demo File: moveit_rviz_exec_service.cpp

set_printer

void set_printer(const bool &print)

Set the printer enabled status

  • print: if true, print messages

Demo File: cartesian_lin_drop_pose_control_node.cpp

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