General information about the connected robot. More...

#include <data.hpp>

Public Attributes
std::string	serial_num = {}

std::string	software_ver = {}

std::string	model_name = {}

size_t	DoF = {}

std::array< double, kCartDoF >	K_x_nom = {}

std::vector< double >	K_q_nom = {}

std::vector< double >	q_min = {}

std::vector< double >	q_max = {}

std::vector< double >	dq_max = {}

std::vector< double >	tau_max = {}

Detailed Description

General information about the connected robot.

Definition at line 31 of file data.hpp.

Member Data Documentation

◆ DoF

size_t flexiv::rdk::RobotInfo::DoF = {}

Joint-space degrees of freedom: \( n \).

Examples: intermediate1_realtime_joint_position_control.cpp, intermediate2_realtime_joint_impedance_control.cpp, intermediate3_realtime_joint_torque_control.cpp, and intermediate4_realtime_joint_floating.cpp.

Definition at line 43 of file data.hpp.

◆ dq_max

std::vector<double> flexiv::rdk::RobotInfo::dq_max = {}

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

Definition at line 75 of file data.hpp.

◆ K_q_nom

std::vector<double> flexiv::rdk::RobotInfo::K_q_nom = {}

Nominal motion stiffness of the joint impedance control modes: \( K_q^{nom} \in \mathbb{R}^{n \times 1} \). Unit: \( [Nm/rad] \).

Examples: intermediate2_realtime_joint_impedance_control.cpp.

Definition at line 57 of file data.hpp.

◆ K_x_nom

std::array<double, kCartDoF> flexiv::rdk::RobotInfo::K_x_nom = {}

Nominal motion stiffness of the Cartesian motion-force control modes: \( K_x^{nom} \in \mathbb{R}^{6 \times 1} \). 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: intermediate5_realtime_cartesian_pure_motion_control.cpp.

Definition at line 51 of file data.hpp.

◆ model_name

std::string flexiv::rdk::RobotInfo::model_name = {}

Robot model name, e.g. Rizon4, Rizon10, Moonlight, etc.

Definition at line 40 of file data.hpp.

◆ q_max

std::vector<double> flexiv::rdk::RobotInfo::q_max = {}

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

Definition at line 69 of file data.hpp.

◆ q_min

std::vector<double> flexiv::rdk::RobotInfo::q_min = {}

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

Definition at line 63 of file data.hpp.

◆ serial_num

std::string flexiv::rdk::RobotInfo::serial_num = {}

Robot serial number.

Definition at line 34 of file data.hpp.

◆ software_ver

std::string flexiv::rdk::RobotInfo::software_ver = {}

Robot software version.

Definition at line 37 of file data.hpp.

◆ tau_max

std::vector<double> flexiv::rdk::RobotInfo::tau_max = {}

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

Definition at line 81 of file data.hpp.

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

include/flexiv/rdk/data.hpp

Public Attributes