General information about the connected robot. More...

#include <data.hpp>

Public Attributes
std::string	serial_num = {}

std::string	software_ver = {}

std::string	model_name = {}

std::string	license_type = {}

size_t	DoF_e = {}

size_t	DoF_m = {}

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 = {}

bool	has_FT_sensor = false

Detailed Description

General information about the connected robot.

See also: Robot::info().

Definition at line 107 of file data.hpp.

Member Data Documentation

◆ DoF

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

Joint-space degrees of freedom of the full system including the robot manipulator and any external axes: \( n \).

Definition at line 129 of file data.hpp.

◆ DoF_e

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

Joint-space degrees of freedom of the external axes: \( n_e \).

Definition at line 122 of file data.hpp.

◆ DoF_m

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

Joint-space degrees of freedom of the robot manipulator: \( n_m \).

Definition at line 125 of file data.hpp.

◆ dq_max

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

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

Definition at line 151 of file data.hpp.

◆ has_FT_sensor

bool flexiv::rdk::RobotInfo::has_FT_sensor = false

Whether the robot has a force-torque (FT) sensor installed

Definition at line 158 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: \( [Nm/rad] \).

Definition at line 139 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: \( [N/m]:[Nm/rad] \).

Definition at line 135 of file data.hpp.

◆ license_type

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

Type of license

Definition at line 119 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 116 of file data.hpp.

◆ q_max

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

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

Definition at line 147 of file data.hpp.

◆ q_min

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

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

Definition at line 143 of file data.hpp.

◆ serial_num

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

Robot serial number.

Definition at line 110 of file data.hpp.

◆ software_ver

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

Robot software version.

Definition at line 113 of file data.hpp.

◆ tau_max

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

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

Definition at line 155 of file data.hpp.

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

include/flexiv/rdk/data.hpp

Public Attributes