Interface to manage tools of the robot. All updates take effect immediately without a power cycle. However, the robot must be in IDLE mode when applying changes. More...

#include <tool.hpp>

Public Member Functions
	Tool (const Robot &robot)
	[Non-blocking] Instantiate the robot tool interface. More...

std::vector< std::string >	list () const
	[Blocking] A list of all configured tools. More...

std::string	name (JointGroup group) const
	[Blocking] Name of the active tool currently used by the specified joint group. More...

bool	exist (const std::string &name) const
	[Blocking] Whether the specified tool already exists. More...

ToolParams	params (JointGroup group) const
	[Blocking] Parameters of the active tool currently used by the specified joint group. More...

ToolParams	params (const std::string &name) const
	[Blocking] Parameters of the specified tool. More...

void	Add (const std::string &name, const ToolParams &params)
	[Blocking] Add a new tool with user-specified parameters. More...

void	Switch (JointGroup group, const std::string &name)
	[Blocking] Switch active tool for the specified joint group. All following operations will default to use this tool. More...

void	Update (const std::string &name, const ToolParams &params)
	[Blocking] Update the parameters of an existing tool. More...

void	Remove (const std::string &name)
	[Blocking] Remove an existing tool. More...

ToolParams	CalibratePayloadParams (bool tool_mounted)
	[Blocking] Calibrate the payload parameters (mass, CoM, and inertia) of a tool. More...

Detailed Description

Interface to manage tools of the robot. All updates take effect immediately without a power cycle. However, the robot must be in IDLE mode when applying changes.

Definition at line 40 of file tool.hpp.

Constructor & Destructor Documentation

◆ Tool()

flexiv::rdk::Tool::Tool ( const Robot & robot )

[Non-blocking] Instantiate the robot tool interface.

Parameters

[in] robot Reference to the instance of flexiv::rdk::Robot.

Exceptions

std::runtime_error if the initialization sequence failed.

Member Function Documentation

◆ Add()

void flexiv::rdk::Tool::Add	(	const std::string &	name,
		const ToolParams &	params
	)

[Blocking] Add a new tool with user-specified parameters.

Parameters

[in]	name	Name of the new tool, must be unique.
[in]	params	Parameters of the new tool.

Exceptions

std::invalid_argument	if the specified tool already exists.
std::logic_error	if robot is not in the correct control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: IDLE.; This function blocks until the request is successfully delivered.

◆ CalibratePayloadParams()

ToolParams flexiv::rdk::Tool::CalibratePayloadParams ( bool tool_mounted )

[Blocking] Calibrate the payload parameters (mass, CoM, and inertia) of a tool.

Parameters

[in] tool_mounted Whether the tool to be calibrated is mounted on the robot flange when triggering this calibration process. See details below.

Exceptions

std::logic_error	if robot is not in the correct control mode.
std::runtime_error	if fault occurred during the calibration or failed to get the calibration result.

Note: Applicable control modes: IDLE.; This function blocks until the calibration is finished.

Warning: [tcp_location] in the returned struct will be zeros and should be ignored.

How to properly calibrate the payload parameters of a tool?

Call Switch("Flange") to disable any active tool from the robot software.
Physically mount the tool to be calibrated to robot flange.
Call this function with [tool_mounted] set to TRUE, then wait for completion. If the robot has a force-torque (FT) sensor, then the returned result will be accurate enough and the optional steps can be skipped. If the robot does not have an FT sensor, then the optional steps are recommended to improve accuracy.
(Optional) Physically unmount the tool from robot flange.
(Optional) Call this function again but with [tool_mounted] set to FALSE, then wait for completion.
Review the returned result and call Add() or Update() to apply the calibrated payload parameters to a new or existing tool. Note that [tcp_location] in the returned struct is invalid and cannot be used directly.

◆ exist()

bool flexiv::rdk::Tool::exist ( const std::string & name ) const

[Blocking] Whether the specified tool already exists.

Parameters

[in] name Name of the tool to check.

Returns: True if the specified tool exists.

Exceptions

std::runtime_error if failed to get a reply from the connected robot.

Note: This function blocks until a reply is received.

◆ list()

std::vector<std::string> flexiv::rdk::Tool::list ( ) const

[Blocking] A list of all configured tools.

Returns: Tool names as a string list.

Exceptions

std::runtime_error if failed to get a reply from the connected robot.

Note: This function blocks until a reply is received.

◆ name()

std::string flexiv::rdk::Tool::name ( JointGroup group ) const

[Blocking] Name of the active tool currently used by the specified joint group.

Parameters

[in] group Joint group to get tool name for. Only existing single-arm joint groups like ARM_1 and ARM_2 are accepted.

Returns: Name of the active tool. Return "Flange" if there's no active tool.

Exceptions

std::invalid_argument	if [group] is not an existing single-arm joint group in the connected robot.
std::runtime_error	if failed to get a reply from the connected robot.

Note: This function blocks until a reply is received.

◆ params() [1/2]

ToolParams flexiv::rdk::Tool::params ( const std::string & name ) const

[Blocking] Parameters of the specified tool.

Parameters

[in] name Name of the tool to get parameters for, must be an existing one.

Returns: ToolParams data struct.

Exceptions

std::invalid_argument	if the specified tool does not exist.
std::runtime_error	if failed to get a reply from the connected robot.

Note: This function blocks until a reply is received.

◆ params() [2/2]

ToolParams flexiv::rdk::Tool::params ( JointGroup group ) const

[Blocking] Parameters of the active tool currently used by the specified joint group.

Parameters

[in] group Joint group to get tool parameters for. Only existing single-arm joint groups like ARM_1 and ARM_2 are accepted.

Returns: ToolParams data struct.

Exceptions

std::invalid_argument	if [group] is not an existing single-arm joint group in the connected robot.
std::runtime_error	if failed to get a reply from the connected robot.

Note: This function blocks until a reply is received.

◆ Remove()

void flexiv::rdk::Tool::Remove ( const std::string & name )

[Blocking] Remove an existing tool.

Parameters

[in] name Name of the tool to remove, must be an existing one but cannot be "Flange".

Exceptions

std::invalid_argument	if the specified tool does not exist.
std::logic_error	if robot is not in the correct control mode or trying to remove "Flange".
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: IDLE.; This function blocks until the request is successfully delivered.

◆ Switch()

void flexiv::rdk::Tool::Switch	(	JointGroup	group,
		const std::string &	name
	)

[Blocking] Switch active tool for the specified joint group. All following operations will default to use this tool.

Parameters

[in]	group	Joint group to switch active tool for. Only existing single-arm joint groups like ARM_1 and ARM_2 are accepted.
[in]	name	Name of the tool to switch to, must be an existing one.

Exceptions

std::invalid_argument	if [group] is not an existing single-arm joint group in the connected robot.
std::invalid_argument	if the specified tool does not exist.
std::logic_error	if robot is not in the correct control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: IDLE.; This function blocks until the request is successfully delivered.

◆ Update()

void flexiv::rdk::Tool::Update	(	const std::string &	name,
		const ToolParams &	params
	)

[Blocking] Update the parameters of an existing tool.

Parameters

[in]	name	Name of the tool to update, must be an existing one.
[in]	params	New parameters for the specified tool.

Exceptions

std::invalid_argument	if the specified tool does not exist.
std::logic_error	if robot is not in the correct control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: IDLE.; This function blocks until the request is successfully delivered.

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

include/flexiv/rdk/tool.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Tool()

Member Function Documentation

◆ Add()

◆ CalibratePayloadParams()

◆ exist()

◆ list()

◆ name()

◆ params() [1/2]

◆ params() [2/2]

◆ Remove()

◆ Switch()

◆ Update()