flexiv::rdk::Maintenance Class Reference

Interface to run maintenance operations on the robot. More...

#include <maintenance.hpp>

Public Member Functions
	Maintenance (const Robot &robot)
	[Non-blocking] Instantiate the robot maintenance interface. More...
void	CalibrateJointTorqueSensors (const std::vector< double > &cali_posture={})
	[Blocking] Calibrate all joint torque sensors. The robot will first move to a proper calibration posture, then start the low-level calibration of all joint torque sensors. Trigger this calibration if the sensed joint torques have noticeable deviations from true values. See below for more details. More...

Detailed Description

Interface to run maintenance operations on the robot.

Definition at line 18 of file maintenance.hpp.

Constructor & Destructor Documentation

Maintenance()

flexiv::rdk::Maintenance::Maintenance

(

const Robot &

robot

)

[Non-blocking] Instantiate the robot maintenance interface.

Parameters

[in]

robot

Reference to the instance of flexiv::rdk::Robot.

Exceptions

std::runtime_error

if the initialization sequence failed.

Member Function Documentation

CalibrateJointTorqueSensors()

void flexiv::rdk::Maintenance::CalibrateJointTorqueSensors

(

const std::vector< double > &

cali_posture = {}

)

[Blocking] Calibrate all joint torque sensors. The robot will first move to a proper calibration posture, then start the low-level calibration of all joint torque sensors. Trigger this calibration if the sensed joint torques have noticeable deviations from true values. See below for more details.

Parameters

[in]

cali_posture

Joint positions to move to before starting the calibration: \( q_cali \in \mathbb{R}^{n \times 1} \). If left empty, the robot will use the recommended upright posture for calibration. Otherwise the specified posture will be used, which is NOT recommended. Valid range: [RobotInfo::q_min, RobotInfo::q_max]. Unit: \( [rad] \).

Exceptions

std::invalid_argument	if [cali_posture] contains any value outside the valid range, or its size does not match robot DoF.
std::logic_error	if robot is not in the correct control mode.
std::runtime_error	if fault occurred during the calibration or failed to save the calibration result.

Note

Applicable control modes: IDLE.

This function blocks until the calibration is finished.

Warning

The robot needs to be rebooted for the calibration result to take effect.

How to determine when this calibration is needed?

1. When the robot is static and there's no payload or external force exerted on it, if RobotStates::ext_wrench_in_tcp still gives greater than 5N reading, then this calibration should be triggered once.
2. When running the "intermediate4_realtime_joint_floating.cpp" example, if the joints drift swiftly toward one direction, then this calibration should be triggered once.

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

• include/flexiv/rdk/maintenance.hpp