C, C++:

End Effector Motion Parameter Configuration armTipVelocityParameters

The setting and query of the end effector motion parameters include linear speed, linear acceleration, angular speed, angular acceleration, collision stage, etc.

Set the maximum linear speed of the end effector rm_set_arm_max_line_speed()

• Method prototype:

int rm_set_arm_max_line_speed(rm_robot_handle * handle,float speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
speed	Input	Maximum linear speed of the end effector, in m/s.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Set the maximum linear speed of the end effector to 0.1 m/s
float speed = 0.1;
ret = rm_set_arm_max_line_speed(robot_handle,speed);

Set the maximum linear acceleration of the end effector rm_set_arm_max_line_acc()

• Method prototype:

int rm_set_arm_max_line_acc(rm_robot_handle * handle,float acc)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
acc	Input	Maximum linear acceleration of the end effector, in m/s2.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Set the maximum linear acceleration of the end effector to 2 m/s2
float acc = 2;
ret = rm_set_arm_max_line_acc(robot_handle,acc);

Set the maximum angular speed of the end effector rm_set_arm_max_angular_speed()

• Method prototype:

int rm_set_arm_max_angular_speed(rm_robot_handle * handle,float speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
speed	Input	Maximum angular speed of the end effector, in rad/s.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Set the maximum angular speed of the end effector to 0.2 rad/s
float speed = 0.2;
ret=rm_set_arm_max_angular_speed(robot_handle,speed);

Set the maximum angular acceleration of the end effector rm_set_arm_max_angular_acc()

• Method prototype:

int rm_set_arm_max_angular_acc(rm_robot_handle * handle,float acc)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
acc	Input	Maximum angular acceleration of the end effector, in rad/s2.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Set the maximum angular acceleration of the end effector to 4 rads/s2
float acc = 4;
ret = rm_set_arm_max_angular_acc(robot_handle,acc);

Set the end effector parameters to defaults rm_set_arm_tcp_init()

• Method prototype:

int rm_set_arm_tcp_init(rm_robot_handle * handle)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Initialize the parameters of the robotic arm, and the end effector parameters will be restored to defaults. The defaults of the end effector are:
//Linear speed: 0.1 m/s; linear acceleration: 0.5 m/s2
//Angular speed: 0.2 rad/s; angular acceleration: 1 rad/s2
ret = rm_set_arm_tcp_init(robot_handle);

Set the dynamic collision stage rm_set_collision_state()

• Method prototype:

int rm_set_collision_state(rm_robot_handle * handle,int collision_stage)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
collision_stage	Input	Stage: 0−8; 0: no collision detection, 8: most sensitive collision detection.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Set the collision stage of the robotic arm to 1
int stage = 1;
ret=rm_set_collision_state(robot_handle,stage,RM_BLOCK);

Get the collision stage rm_get_collision_stage()

• Method prototype:

int rm_get_collision_stage(rm_robot_handle * handle,int * collision_stage)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
collision_stage	Output	Save the returned collision stage, value: 0−8; 0: no collision detection, 8: most sensitive collision detection.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Query the dynamic collision stage of the robotic arm
int stage = -1;
ret = rm_get_collision_stage(robot_handle,&stage);

Get the maximum linear speed of the end effector rm_get_arm_max_line_speed()

• Method prototype:

int rm_get_arm_max_line_speed(rm_robot_handle * handle,float * speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
speed	Output	Save the returned maximum linear speed of the end effector, in m/s.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Get the linear speed of the end effector
float speed = 0;                                                              
ret = rm_get_arm_max_line_speed(robot_handle,&speed);

Get the maximum linear acceleration of the end effector rm_get_arm_max_line_acc()

• Method prototype:

int rm_get_arm_max_line_acc(rm_robot_handle * handle,float * acc)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
acc	Output	Save the returned maximum linear acceleration of the end effector, in m/s2.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Get the linear acceleration of the end effector
float acc = 0;                                                            
ret = rm_get_arm_max_line_acc(robot_handle,&acc);

Get the maximum angular speed of the end effector rm_get_arm_max_angular_speed()

• Method prototype:

int rm_get_arm_max_angular_speed(rm_robot_handle * handle,float * speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
speed	Output	Save the returned maximum angular speed of the end effector, in rad/s.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Get the angular speed of the end effector
float speed = 0;
ret = rm_get_arm_max_angular_speed(robot_handle,&speed);

Get the maximum angular acceleration of the end effector rm_get_arm_max_angular_acc()

• Method prototype:

int rm_get_arm_max_angular_speed(rm_robot_handle * handle,float * speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
acc	Output	Save the returned maximum angular acceleration of the end effector, in rad/s2.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Get the angular acceleration of the end effector
float acc = 0;
ret = rm_get_arm_max_angular_speed(robot_handle,&acc);

Set DH Parameters rm_set_DH_data()

• Method prototype:

int rm_set_DH_data(rm_robot_handle * handle, rm_dh_t dh)

You can refer to the detailed descriptions of the rm_robot_handle and rm_dh_t structures.

• Parameter description:

Parameter	Type	Description
handle	Input	Robot arm handle.
dh	Input	DH parameters.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

// Set the current DH parameters for the robot arm (example values; modify according to actual requirements)
rm_dh_t dh_data = {
    .a = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
    .d = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
    .alpha = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
    .offset = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0}
};
rm_set_DH_data(handle, dh_data);

Get DH Parameters rm_get_DH_data()

• Method prototype:

int rm_get_DH_data(rm_robot_handle * handle, rm_dh_t *dh)

You can refer to the detailed descriptions of the rm_robot_handle and rm_dh_t structures.

• Parameter description:

Parameter	Type	Description
handle	Input	Robot arm handle.
dh	Output	DH parameters.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Query the robot arm's DH parameters
rm_dh_t dh_data;
ret = rm_get_DH_data(handle, &dh_data);

Restore Default DH Parameters rm_set_DH_data_default()

• Method prototype:

int rm_set_DH_data_default(rm_robot_handle * handle)

You can refer to the detailed description of the rm_robot_handle structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robot arm handle.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Restore the robot arm's default DH parameters
ret = rm_set_DH_data_default(handle);