skill_lin

Aligns the tool frame with a target frame

Defined at line 8 of file skills/skill_lin.xml in package pitasc_library.

Meta data

Categories
single_robot, position_controlled
Prototypes
skill_cartesian_tracking, skill_cartesian, loop_target, 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’. If no value is provided, 0 is used for all axes.
max_linear_velocity : float
Max linear velocity.
Default: 1.0
max_angular_velocity : float
Max angular velocity.
Default: 1.5
positioning_accuracy : csv:float
Positioning accuracy for x y z a b c in m resp. rad
Default: 0.001, 0.001, 0.001, 0.005, 0.005, 0.005

Expert parameters:

skill_name : string
Name of this skill. Must be locally unique.
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([‘positioning_monitor’])
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.
trajectory_duration : float
Duration of the trajectory in [s]. ‘0’ means as fast as possible. Is expanded accordingly if in conflict with maximal linear veloctiy.
Default: False
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
positioning_monitor : monitor_distance
Checks whether the target frame has been reached.

Hidden parameters:

collections : list:collection
Contains the kinematic chains of the skill (feature, robot, object chains).
Default: odict_keys([‘collection’, ‘target_to_tool’])
loops : list:kinematic_loop
Contains the kinematic loop(s) that define the task to be solved.
Default: odict_keys([‘kinematic_loop’])
tasks : list:task
Contains the task description(s).
Default: odict_keys([‘tracking’])

Examples

skill_lin is used in the following examples: