com.ur.urcap.api.domain.userinteraction.robot.movement

Interface RobotMovement

@ProviderType
public interface RobotMovement

This interface provides functionality for requesting the end user to move the robot.

Since:

1.5.0

Method Summary

Modifier and Type	Method and Description
PoseMovementConfiguration	createPoseMovementConfiguration(Pose pose) Create a robot movement configuration object to be used for robot movement.
void	requestUserToMoveRobot(JointPositions q, RobotMovementCallback callback) Transition to the Automove screen to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by joint positions.
void	requestUserToMoveRobot(PoseMovementConfiguration poseMovementConfiguration, RobotMovementCallback callback) Transition to the Automove screen to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by a pose at the desired speed specified.
void	requestUserToMoveRobot(Pose pose, RobotMovementCallback callback) Transition to the Automove screen to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by a pose.

Method Detail

requestUserToMoveRobot

void requestUserToMoveRobot(JointPositions q,
                            RobotMovementCallback callback)

Transition to the Automove screen to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by joint positions.

The Automove function will move the robot to the target joint positions linearly in joint space.

NOTE: This method does not take the currently active TCP offset into account, i.e. the Automove function will have the specified joint positions as target.

Parameters:

q - The target joint positions to move to.

callback - The instance which callbacks will be made to.

Throws:

IllegalStateException - If the URCap screen is not active (visible).

requestUserToMoveRobot

void requestUserToMoveRobot(Pose pose,
                            RobotMovementCallback callback)

Transition to the Automove screen to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by a pose.

The Automove function will move the robot TCP to the target position linearly in Cartesian space. If this it not possible, the robot will move to the target linearly in joint space.

The current joint positions of the robot will be used as starting point for inverse kinematics to calculate a target joint vector corresponding to desired pose, taking the currently active TCP offset into account.

Parameters:

pose - The target pose the robot TCP will move to.

callback - The instance which callbacks will be made to.

Throws:

IllegalStateException - If the URCap screen is not active (visible).

requestUserToMoveRobot

void requestUserToMoveRobot(PoseMovementConfiguration poseMovementConfiguration,
                            RobotMovementCallback callback)

Transition to the Automove screen to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by a pose at the desired speed specified.

The Automove function will move the robot TCP to the target position linearly in Cartesian space. If this it not possible, the robot will move to the target linearly in joint space.

The current joint positions of the robot will be used as starting point for inverse kinematics to calculate a target joint vector corresponding to desired pose, taking the currently active TCP offset into account.

Parameters:

poseMovementConfiguration - A configuration object containing the target pose the robot TCP will move to and the speed it will move at.

callback - The instance which callbacks will be made to.

Throws:

IllegalStateException - If the URCap screen is not active (visible).

Since:

1.15.0

createPoseMovementConfiguration

PoseMovementConfiguration createPoseMovementConfiguration(Pose pose)

Create a robot movement configuration object to be used for robot movement. This object will hold the pose that the robot is moved to and the speed it will move at.

Parameters:

pose - The target pose the robot TCP will move to.

Returns:

a robot movement configuration object to be used for robot movement.

Since:

1.15.0