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protocol.md

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  1. Types

    • 'X', 'Y', 'Z'
    • 'T' for Translational
    • 'A', 'B', 'C'
    • 'R' for rotational
    • 'N' for null space
    • 'E' for all DoFs

  2. Controller Parameters z. Controller Type - Position Control - Axis-specific Impedance Controller - Cartesian Impedance Controller a. Position Control No parameters b. Cartesian Impedance Controller - Parameters - Damping - Stiffness - AdditionalControlForce - Safety Guards (Motion is aborted if violated) [Not Planned] - max cartesian velocity - max path deviation - max control force c. Cartesian Impedance Controller with overlaid force oscillation [Not planned] d. Axis-specific impedance controller - Damping - Stiffness

  3. Motion Parameters

    Not available for PositionHold?

    a. Cartesian Velocity (mm/s) (not applied to joint overlay) - T1: 250 mm/s b. JointVelocityRel (%) c. CartAcceleration (mm/s^2) d. JointAccelerationRel (%) e. CartJerk (mm/s^3) f. JointJerkRel (%) g. OrientationVelocity (rad/s) h. OrientationAcceleration (rad/s^2) i. OrientationJerk (rad/s^3)

  4. LBR status not available in FRI a. temperature [Not Planned] - Power Drive System - FCU of brakes - FCU of motors - CLB of PDSs - Joint - Torque sensor boards - Motor b. External Cartesian forces and torques acting on the robot flange - measure frame (statically fixed to the flange), orientation frame (as the coordinate system) - reliability check c. mastering state [Not Planned] d. ready for motion (only useful for background applications) [Not Planned] - No safety stop is active - The drives are in an error-free state - AUT e. Motion command activity f. Safety Signals [Not Planned] g. Referencing state [Not Planned]

  5. Operations not available in FRI a. Master joints [Not Planned]

  6. Tool load data a. select different tools