public interface ForceNodeConfigFactory
Modifier and Type | Method and Description |
---|---|
CompliantLinearAxisForce |
createCompliantLinearAxisForce(Force force,
ErrorHandler<Force> forceErrorHandler,
Speed limit,
ErrorHandler<Speed> limitErrorHandler)
Creates a linear force setting for a compliant axis.
|
CompliantRotationalAxisTorque |
createCompliantRotationalAxisTorque(Torque torque,
ErrorHandler<Torque> torqueErrorHandler,
AngularSpeed limit,
ErrorHandler<AngularSpeed> limitErrorHandler)
Creates a torque (rotational force) setting for a compliant axis.
|
FrameForceNodeConfig |
createFrameForceConfig(Feature feature,
LinearAxisSettings x,
LinearAxisSettings y,
LinearAxisSettings z,
RotationalAxisSettings rx,
RotationalAxisSettings ry,
RotationalAxisSettings rz)
Creates a Frame configuration type for the Force node.
|
NonCompliantLinearAxisLimit |
createNonCompliantLinearAxisLimit(Length limit,
ErrorHandler<Length> limitErrorHandler)
Creates a linear deviation limit setting for a non-compliant axis.
|
NonCompliantRotationalAxisLimit |
createNonCompliantRotationalAxisLimit(Angle limit,
ErrorHandler<Angle> limitErrorHandler)
Creates a maximum rotational deviation limit setting for a non-compliant axis.
|
CompliantLinearAxisForce createCompliantLinearAxisForce(Force force, ErrorHandler<Force> forceErrorHandler, Speed limit, ErrorHandler<Speed> limitErrorHandler)
limit
- The maximum speed the robot arm is allowed to move along the axis, not null
.limitErrorHandler
- The error handler for the limit value. If using ErrorHandler.AUTO_CORRECT
this will clamp the value to the nearest valid speed value.force
- The force the robot arm will exert, not null
.forceErrorHandler
- The error handler for the force value. If using ErrorHandler.AUTO_CORRECT
this will clamp the value to the nearest valid force value.NonCompliantLinearAxisLimit createNonCompliantLinearAxisLimit(Length limit, ErrorHandler<Length> limitErrorHandler)
limit
- The maximum distance the robot arm is allowed to deviate from the path, not null
.limitErrorHandler
- The error handler for the limit value. If using ErrorHandler.AUTO_CORRECT
this will clamp the value to the nearest valid distance value.null
.CompliantRotationalAxisTorque createCompliantRotationalAxisTorque(Torque torque, ErrorHandler<Torque> torqueErrorHandler, AngularSpeed limit, ErrorHandler<AngularSpeed> limitErrorHandler)
limit
- The maximum angular speed the robot arm is allowed to move, not null
.limitErrorHandler
- The error handler for the limit value. If using ErrorHandler.AUTO_CORRECT
this will clamp the value to the nearest valid angular speed value.torque
- The torque (rotational force) the robot arm will exert, not null
.torqueErrorHandler
- The error handler for the torque value. If using ErrorHandler.AUTO_CORRECT
this will clamp the value to the nearest valid torque value.NonCompliantRotationalAxisLimit createNonCompliantRotationalAxisLimit(Angle limit, ErrorHandler<Angle> limitErrorHandler)
limit
- The maximum angle the robot arm is allowed to deviate from the path, not null
.limitErrorHandler
- The error handler for the limit value. If using ErrorHandler.AUTO_CORRECT
this will clamp the value to the nearest valid angle value.FrameForceNodeConfig createFrameForceConfig(Feature feature, LinearAxisSettings x, LinearAxisSettings y, LinearAxisSettings z, RotationalAxisSettings rx, RotationalAxisSettings ry, RotationalAxisSettings rz)
feature
- The feature defining the coordinate system (axes) that will be used in force mode, not null
.x
- The compliant force or non-compliant maximum linear deviation setting for the x-axis, not null
.y
- The compliant force or non-compliant maximum linear deviation setting for the y-axis, not null
.z
- The compliant force or non-compliant maximum linear deviation setting for the z-axis, not null
.rx
- The compliant torque (rotational force) or non-compliant maximum rotational deviation setting for the
x-axis (Rx rotation), not null
.ry
- The compliant torque (rotational force) or non-compliant maximum rotational deviation setting for the
y-axis (Ry rotation), not null
.rz
- The compliant torque (rotational force) or non-compliant maximum rotational deviation setting for the
z-axis (Rz rotation), not null
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