skill_guarded_lin

Causes a linear motion until a specified force value is reached

Defined at line 9 of file skills/skill_guarded_lin.xml in package pitasc_library.

Meta data

Categories
single_robot, force_controlled
Prototypes
skill_concurrency, skill_single_robot, skill, object, dictionary, base, descriptive

Parameters

Required parameters:

tool_frame : string
Name of the tool frame.
target_frame : string
Name of the target frame.

Basic parameters:

robot : dict
Robot that is controlled by the skill (only needs to be set at the application level).
axes : csv:string
List of axes to be aligned.
Default: x, y, z, a, b, c
target_offsets : csv:float
Offsets of the axes to be aligned. Must be the same number of values as for ‘axes’.
Default: 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
max_linear_velocity : float
Max linear velocity.
Default: 1.0
max_angular_velocity : float
Max angular velocity.
Default: 1.5
max_forces : csv:float
Forces in [N].
Default: 10.0
monitor_axes : csv:string
The directions that are monitored for occuring forces (can be multiple axes).
Default: x

Expert parameters:

skill_name : string
Name of this skill. Must be locally unique.
collections : list:collection
Contains the kinematic chains of the skill (feature, robot, object chains).
loops : list:kinematic_loop
Contains the kinematic loop(s) that define the task to be solved.
tasks : list:task
Contains the task description(s).
bounds : list:bound
Contains the bounds description(s).
monitors : list:monitor
Contains the monitors of the skill that determine when the skill should terminate.
Default: odict_keys([‘force_threshold’])
transitions : list:transition
Contains additional transitions to other states (skills), given an event name.
scripts : list:script
Contains scripts that should be executed while the skill is active.
skills : list:skill
Sub-skills that are executed simultaneously.
Default: odict_keys([‘move_skill’, ‘force_skill’])
linear_controller_gain : float
Specifies the approx. linear gain of the controller transfer function for Cartesian positions (i.e. x,y and z).
Default: 3.0
angular_controller_gain : float
Specifies the approx. linear gain of the controller transfer function for Cartesian angles (i.e. a,b and c).
Default: 3.0
move_skill : skill_lin
Aligns the tool frame with a target frame
force_skill : skill_force
Models a loop for force control

Examples

skill_guarded_lin is used in the following examples: