flexiv::RobotInfo Struct Reference

General information of the connected robot. More...

#include <Data.hpp>

Public Attributes
std::string	serialNum = {}
unsigned int	DOF = {}
std::string	softwareVer = {}
std::vector< double >	nominalK = {}
std::vector< double >	qHome = {}
std::vector< double >	qMin = {}
std::vector< double >	qMax = {}
std::vector< double >	dqMax = {}
std::vector< double >	tauMax = {}

Detailed Description

General information of the connected robot.

Definition at line 22 of file Data.hpp.

Member Data Documentation

DOF

unsigned int flexiv::RobotInfo::DOF = {}

Robot degrees of freedom (DOF)

Definition at line 28 of file Data.hpp.

dqMax

std::vector<double> flexiv::RobotInfo::dqMax = {}

Upper limits of joint velocities: \( \dot{q}_{max} \in \mathbb{R}^{DOF \times 1} \). Unit: \( [rad/s] \).

Definition at line 64 of file Data.hpp.

nominalK

std::vector<double> flexiv::RobotInfo::nominalK = {}

Nominal motion stiffness of the Cartesian motion-force control modes: \( K_{nom} \in \mathbb{R}^{6 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) linear stiffness and \( \mathbb{R}^{3 \times 1} \) angular stiffness: \( [k_x, k_y, k_z, k_{Rx}, k_{Ry}, k_{Rz}]^T \). Unit: \( [N/m]~[Nm/rad] \).

Examples

intermediate4_realtime_cartesian_pure_motion_control.cpp.

Definition at line 40 of file Data.hpp.

qHome

std::vector<double> flexiv::RobotInfo::qHome = {}

Joint positions of the robot's home posture: \( q_{home} \in \mathbb{R}^{DOF \times 1} \). Unit: \( [rad] \).

Definition at line 46 of file Data.hpp.

qMax

std::vector<double> flexiv::RobotInfo::qMax = {}

Upper limits of joint positions: \( q_{max} \in \mathbb{R}^{DOF \times 1} \). Unit: \( [rad] \).

Definition at line 58 of file Data.hpp.

qMin

std::vector<double> flexiv::RobotInfo::qMin = {}

Lower limits of joint positions: \( q_{min} \in \mathbb{R}^{DOF \times 1} \). Unit: \( [rad] \).

Definition at line 52 of file Data.hpp.

serialNum

std::string flexiv::RobotInfo::serialNum = {}

Robot serial number

Definition at line 25 of file Data.hpp.

softwareVer

std::string flexiv::RobotInfo::softwareVer = {}

Robot software version

Definition at line 31 of file Data.hpp.

tauMax

std::vector<double> flexiv::RobotInfo::tauMax = {}

Upper limits of joint torques: \( \tau_{max} \in \mathbb{R}^{DOF \times 1} \). Unit: \( [Nm] \).

Definition at line 70 of file Data.hpp.

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The documentation for this struct was generated from the following file:

• include/flexiv/Data.hpp