arcs::common_interface::MotionControl Class Reference

MotionControl. More...

#include <motion_control.h>

Public Member Functions
	MotionControl ()
virtual	~MotionControl ()
double	getEqradius ()
	Get the equivalent radius, in meters.
int	setEqradius (double eqradius)
	Set the equivalent radius, in meters.
int	setSpeedFraction (double fraction)
	Dynamically adjust the robot's speed and acceleration ratio (0., 1.
double	getSpeedFraction ()
	Get the speed and acceleration ratio, default is 1.
int	speedFractionCritical (bool enable)
	Speed fraction critical section.
bool	isSpeedFractionCritical ()
	Whether it is in the speed fraction critical section
bool	isBlending ()
	Whether it is in the blending area
int	pathOffsetLimits (double v, double a)
	Set the maximum speed and maximum acceleration for offset.
int	pathOffsetCoordinate (int ref_coord)
	Set the reference coordinate system for offset.
int	pathOffsetEnable ()
	Enable path offset
int	pathOffsetSet (const std::vector< double > &offset, int type=0)
	Set path offset
int	pathOffsetDisable ()
	Disable path offset
int	pathOffsetSupv (const std::vector< double > &min, const std::vector< double > &max, int strategy)
int	jointOffsetEnable ()
	Enable joint offset
int	jointOffsetSet (const std::vector< double > &offset, int type=1)
	Set joint offset
int	jointOffsetDisable ()
	Disable joint offset
int	getQueueSize ()
	Get the number of enqueued instruction segments (INST), including motion instructions such as moveJoint/moveLine/moveCircle and configuration instructions such as setPayload.
int	getTrajectoryQueueSize ()
	Get the number of enqueued motion planning interpolation points
int	getExecId ()
	Get the ID of the currently interpolating motion instruction segment.
double	getDuration (int id)
	Get the expected execution duration of the motion segment with the specified ID.
double	getMotionLeftTime (int id)
	Get the remaining execution time of the motion segment with the specified ID.
int	stopMove (bool quick, bool all_tasks)
	StopMove is used to stop robot and external axes movements and any belonging process temporarily.
int	startMove ()
	StartMove is used to resume robot, external axes movement and belonging process after the movement has been stopped
int	storePath (bool keep_sync)
	storePath
int	clearPath ()
	ClearPath clears the whole motion path on the current motion path level (base level or StorePath level).
int	restoPath ()
	restoPath
double	getProgress ()
	Get the execution progress of the current motion instruction segment.
int	setWorkObjectHold (const std::string &module_name, const std::vector< double > &mounting_pose)
	Specify the name and mounting position when the workpiece is installed on the end of another robot or external axis.
std::tuple< std::string, std::vector< double > >	getWorkObjectHold ()
	getWorkObjectHold
std::vector< double >	getPauseJointPositions ()
int	setResumeStartPoint (const std::vector< double > &q, int move_type, double blend_radius, const std::vector< double > &qdmax, const std::vector< double > &qddmax, const std::vector< double > &vmax, const std::vector< double > &amax)
	Set resume motion parameters
int	getResumeMode ()
	Get resume motion mode
ARCS_DEPRECATED int	setServoMode (bool enable)
	Set servo mode Use setServoModeSelect instead
ARCS_DEPRECATED bool	isServoModeEnabled ()
	Determine whether the servo mode is enabled.
int	setServoModeSelect (int mode)
	Set servo motion mode
int	getServoModeSelect ()
	Get the servo motion mode
int	servoJoint (const std::vector< double > &q, double a, double v, double t, double lookahead_time, double gain)
	Joint space servo
int	servoCartesian (const std::vector< double > &pose, double a, double v, double t, double lookahead_time, double gain)
	Cartesian space servo
int	servoJointWithAxes (const std::vector< double > &q, const std::vector< double > &extq, double a, double v, double t, double lookahead_time, double gain)
	Servo motion (with external axes), used for executing offline trajectories, pass-through user planned trajectories, etc.
int	servoJointWithAxisGroup (const std::vector< double > &q, double a, double v, double t, double lookahead_time, double gain, const std::string &group_name, const std::vector< double > &extq)
int	servoCartesianWithAxes (const std::vector< double > &pose, const std::vector< double > &extq, double a, double v, double t, double lookahead_time, double gain)
	Servo motion (with external axes), used for executing offline trajectories, pass-through user planned trajectories, etc.
int	servoCartesianWithAxisGroup (const std::vector< double > &pose, double a, double v, double t, double lookahead_time, double gain, const std::string &group_name, const std::vector< double > &extq)
int	trackJoint (const std::vector< double > &q, double t, double smooth_scale, double delay_sacle)
	Tracking motion, used for executing offline trajectories or passing through user-planned trajectories, etc.
int	trackCartesian (const std::vector< double > &pose, double t, double smooth_scale, double delay_sacle)
	Tracking motion, used for executing offline trajectories or passing through user-planned trajectories, etc.
int	followJoint (const std::vector< double > &q)
	Joint space following
int	followLine (const std::vector< double > &pose)
	Cartesian space following
int	speedJoint (const std::vector< double > &qd, double a, double t)
	Joint space velocity following
int	resumeSpeedJoint (const std::vector< double > &qd, double a, double t)
	Joint space velocity following (used to move to a safe position after a collision during process execution)
int	speedLine (const std::vector< double > &xd, double a, double t)
	Cartesian space velocity following
int	resumeSpeedLine (const std::vector< double > &xd, double a, double t)
	Cartesian space velocity following (used to move to a safe position after a collision during process execution)
int	moveSpline (const std::vector< double > &q, double a, double v, double duration)
	Perform spline interpolation in joint space
int	moveJoint (const std::vector< double > &q, double a, double v, double blend_radius, double duration)
	Add joint motion
int	moveJointWithAxisGroup (const std::vector< double > &q, double a, double v, double blend_radius, double duration, const std::string &group_name, const std::vector< double > &extq)
	Synchronous motion of robot and external axes
int	resumeMoveJoint (const std::vector< double > &q, double a, double v, double duration)
	Move to the pause point using joint motion.
int	moveLine (const std::vector< double > &pose, double a, double v, double blend_radius, double duration)
	Add linear motion
int	moveLineWithAxisGroup (const std::vector< double > &pose, double a, double v, double blend_radius, double duration, const std::string &group_name, const std::vector< double > &extq)
	Linear motion synchronized with external axes
int	moveProcess (const std::vector< double > &pose, double a, double v, double blend_radius)
	Add process motion
int	resumeMoveLine (const std::vector< double > &pose, double a, double v, double duration)
	Move to the pause point using linear motion.
int	moveCircle (const std::vector< double > &via_pose, const std::vector< double > &end_pose, double a, double v, double blend_radius, double duration)
	Add circular arc motion
int	moveCircleWithAxisGroup (const std::vector< double > &via_pose, const std::vector< double > &end_pose, double a, double v, double blend_radius, double duration, const std::string &group_name, const std::vector< double > &extq)
	moveCircle with external axes synchronized motion
int	setCirclePathMode (int mode)
	Set circle path mode
int	moveCircle2 (const CircleParameters &param)
	Advanced arc or circular motion
int	pathBufferAlloc (const std::string &name, int type, int size)
	Create a new path point buffer
int	pathBufferAppend (const std::string &name, const std::vector< std::vector< double > > &waypoints)
	Add waypoints to the path buffer
int	pathBufferEval (const std::string &name, const std::vector< double > &a, const std::vector< double > &v, double t)
	Perform computation and optimization (time-consuming operations).
bool	pathBufferValid (const std::string &name)
	Whether the buffer with the specified name is valid
int	pathBufferFree (const std::string &name)
	Release path buffer
int	pathBufferFilter (const std::string &name, int order, double fd, double fs)
	Joint space path filter
std::vector< std::string >	pathBufferList ()
	List all cached path names
int	movePathBuffer (const std::string &name)
	Execute the cached path
int	moveIntersection (const std::vector< std::vector< double > > &poses, double a, double v, double main_pipe_radius, double sub_pipe_radius, double normal_distance, double normal_alpha)
	Intersection interface
int	stopJoint (double acc)
	Stop motion in joint space
int	resumeStopJoint (double acc)
	Stop motion in joint space (used after moving to a safe position via resumeSpeedJoint following a collision during process execution)
int	stopLine (double acc, double acc_rot)
	Stop motions in Cartesian space such as moveLine/moveCircle.
int	resumeStopLine (double acc, double acc_rot)
	Stop motion in Cartesian space (used after moving to a safe position via resumeSpeedLine following a collision during process execution)
int	weaveStart (const std::string &params)
	Start weaving: between weaveStart and weaveEnd, moveLine/moveCircle/moveProcess follows params.
int	weaveEnd ()
	End weaving
int	setFuturePointSamplePeriod (double sample_time)
	Set the sampling interval for points on the future path
std::vector< std::vector< double > >	getFuturePathPointsJoint ()
	Get trajectory points on the future path
int	setConveyorTrackEncoder (int encoder_id, int tick_per_meter)
	Set conveyor encoder parameters
int	conveyorTrackCircle (int encoder_id, const std::vector< double > &center, bool rotate_tool)
	Circular conveyor tracking
int	conveyorTrackLine (int encoder_id, const std::vector< double > &direction)
	Linear conveyor tracking
int	conveyorTrackStop (int encoder_id, double a)
	Stop conveyor tracking
bool	conveyorTrackSwitch (int encoder_id)
	Switch conveyor tracking item.
bool	hasItemOnConveyorToTrack (int encoder_id)
	Whether there is an item on the conveyor that can be tracked
int	conveyorTrackCreatItem (int encoder_id, int item_id, const std::vector< double > &offset)
	Add an item to the conveyor queue
int	setConveyorTrackCompensate (int encoder_id, double comp)
	Set the compensation value for conveyor tracking
bool	isConveyorTrackSync (int encoder_id)
	Determine whether the conveyor and the robot arm have reached relative rest
int	setConveyorTrackLimit (int encoder_id, double limit)
	Set the maximum distance limit for conveyor tracking
int	setConveyorTrackStartWindow (int encoder_id, double window_min, double window_max)
	Set the start window for conveyor tracking
int	setConveyorTrackSensorOffset (int encoder_id, double offset)
	Set the distance from the conveyor teaching position to the sync switch
int	setConveyorTrackSyncSeparation (int encoder_id, double distance, double time)
	Set conveyor sync separation, used to filter out unwanted signals from the sync switch.
bool	isConveyorTrackExceed (int encoder_id)
	Whether the workpiece on the conveyor has moved beyond the maximum limit
int	conveyorTrackClearItems (int encoder_id)
	Clear all items in the conveyor queue
std::vector< int >	getConveyorTrackQueue (int encoder_id)
	Get encoder values of the conveyor queue
int	getConveyorTrackNextItem (int encoder_id)
	Get the ID of the next item on the conveyor to be tracked
int	moveSpiral (const SpiralParameters &param, double blend_radius, double v, double a, double t)
	Spiral motion
int	getLookAheadSize ()
	Get look-ahead segment size
int	setLookAheadSize (int size)
	Set look-ahead segment size
int	weaveUpdateParameters (const std::string &params)
	Update frequency and amplitude during weaving process
int	enableJointSoftServo (const std::vector< double > &stiffness)
	Set joint current loop stiffness coefficient
int	disableJointSoftServo ()
	Disable joint current loop stiffness coefficient
bool	isJointSoftServoEnabled ()
	Determine whether the joint current loop stiffness coefficient is enabled.
int	enableVibrationSuppress (const std::vector< double > &omega, const std::vector< double > &zeta, int level)
int	disbaleVibrationSuppress ()
int	setTimeOptimalEnable (bool enable)
bool	isTimeOptimalEnabled ()
	Get the time optimal algorithm state: true - enable false - disable
bool	isSupportedTimeOptimal ()
	Check whether the time optimal algorithm is supported true - supported false - not supported

Protected Attributes
void *	d_

Detailed Description

MotionControl.

Definition at line 67 of file motion_control.h.

Constructor & Destructor Documentation

MotionControl()

arcs::common_interface::MotionControl::MotionControl

(

)

~MotionControl()

virtual arcs::common_interface::MotionControl::~MotionControl ( )

virtual

Member Function Documentation

clearPath()

int arcs::common_interface::MotionControl::clearPath

(

)

ClearPath clears the whole motion path on the current motion path level (base level or StorePath level).

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BAD_STATE AUBO_BUSY -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Lua function prototype

clearPath() -> number

Lua example

num = clearPath()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.clearPath","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

conveyorTrackCircle()

int arcs::common_interface::MotionControl::conveyorTrackCircle	(	int	encoder_id,
		const std::vector< double > &	center,
		bool	rotate_tool
	)

Circular conveyor tracking

Note

Not implemented yet

Parameters

encoder_id	0 - integrated sensor
rotate_tool

Returns

Exceptions

arcs::common_interface::AuboException

conveyorTrackClearItems()

int arcs::common_interface::MotionControl::conveyorTrackClearItems

(

int

encoder_id

)

Clear all items in the conveyor queue

Parameters

encoder_id

Reserved

Returns

Exceptions

arcs::common_interface::AuboException

Python function prototype

conveyorTrackClearItems(self: pyaubo_sdk.MotionControl, arg0: int) -> int

Lua function prototype

conveyorTrackClearItems(encoder_id: number) -> int

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackClearItems","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

conveyorTrackCreatItem()

int arcs::common_interface::MotionControl::conveyorTrackCreatItem	(	int	encoder_id,
		int	item_id,
		const std::vector< double > &	offset
	)

Add an item to the conveyor queue

Parameters

encoder_id	Reserved
item_id	Item ID
offset	Offset of the current item position relative to the template item position

Returns

Exceptions

arcs::common_interface::AuboException

Python function prototype

conveyorTrackCreatItem(self: pyaubo_sdk.MotionControl, arg0: int, arg1:int, arg2: List[float]) -> int

Lua function prototype

conveyorTrackCreatItem(encoder_id: number, item_id: number, offset: table) -> number

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackCreatItem","params":[0,2, {0.0,0.0,0.0,0.0,0.0,0.0}],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0.0}

conveyorTrackLine()

int arcs::common_interface::MotionControl::conveyorTrackLine	(	int	encoder_id,
		const std::vector< double > &	direction
	)

Linear conveyor tracking

Parameters

encoder_id	Reserved
direction	The movement direction of the conveyor relative to the robot base coordinate system

Returns

Exceptions

arcs::common_interface::AuboException

Python function prototype

conveyorTrackLine(self: pyaubo_sdk.MotionControl) -> int

Lua function prototype

conveyorTrackLine -> int

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackLine","params":[1,[1.0,0.0,0.0,0.0,0.0,0.0]],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

conveyorTrackStop()

int arcs::common_interface::MotionControl::conveyorTrackStop	(	int	encoder_id,
		double	a
	)

Stop conveyor tracking

Parameters

encoder_id	Reserved
a	Reserved

Returns

Exceptions

arcs::common_interface::AuboException

Python function prototype

conveyorTrackStop(self: pyaubo_sdk.MotionControl) -> int

Lua function prototype

conveyorTrackStop -> int

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackStop","params":[0,1.0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

conveyorTrackSwitch()

bool arcs::common_interface::MotionControl::conveyorTrackSwitch

(

int

encoder_id

)

Switch conveyor tracking item.

If the current item is being tracked, it will be dequeued and no longer tracked, returning true. If no item is currently being tracked, returns false.

Returns

Exceptions

arcs::common_interface::AuboException

Parameters

encoder_id

Reserved

Python function prototype

conveyorTrackSwitch(self: pyaubo_sdk.MotionControl) -> bool

Lua function prototype

conveyorTrackSwitch() -> boolean

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackSwitch","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":true}

disableJointSoftServo()

int arcs::common_interface::MotionControl::disableJointSoftServo

(

)

Disable joint current loop stiffness coefficient

Returns

Returns 0 on success, otherwise error code

Exceptions

arcs::common_interface::AuboException

Python function prototype

disableJointSoftServo(self: pyaubo_sdk.MotionControl) -> int

Lua function prototype

disableJointSoftServo() -> number

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.disableJointSoftServo","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":1}

disbaleVibrationSuppress()

int arcs::common_interface::MotionControl::disbaleVibrationSuppress

(

)

enableJointSoftServo()

int arcs::common_interface::MotionControl::enableJointSoftServo

(

const std::vector< double > &

stiffness

)

Set joint current loop stiffness coefficient

Parameters

stiffness

Stiffness coefficient for each joint, as a percentage [0 -> 1]. The larger the value, the stiffer the joint.

Returns

Exceptions

arcs::common_interface::AuboException

Python function prototype

enableJointSoftServo(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int

Lua function prototype

enableJointSoftServo(stiffness: table) -> int

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotConfig.enableJointSoftServo","params":[[0.0,0.0,0.0,0.0,0.0,0.0]],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

enableVibrationSuppress()

int arcs::common_interface::MotionControl::enableVibrationSuppress	(	const std::vector< double > &	omega,
		const std::vector< double > &	zeta,
		int	level
	)

followJoint()

int arcs::common_interface::MotionControl::followJoint

(

const std::vector< double > &

q

)

Joint space following

Note

Not implemented yet

Exceptions

arcs::common_interface::AuboException

Python function prototype

followJoint(self: pyaubo_sdk.MotionControl, arg0: List[float]) -> int

Lua function prototype

followJoint(q: table) -> nil

Lua example

followJoint({0,0,0,0,0,0})

followLine()

int arcs::common_interface::MotionControl::followLine

(

const std::vector< double > &

pose

)

Cartesian space following

Note

Not implemented yet

Exceptions

arcs::common_interface::AuboException

Python function prototype

followLine(self: pyaubo_sdk.MotionControl, arg0: List[float]) -> int

Lua function prototype

followLine(pose: table) -> nil

Lua example

followLine({0.58712,-0.15775,0.48703,2.76,0.344,1.432})

getConveyorTrackNextItem()

int arcs::common_interface::MotionControl::getConveyorTrackNextItem

(

int

encoder_id

)

Get the ID of the next item on the conveyor to be tracked

Parameters

encoder_id

Reserved

Returns

Returns the item ID; returns -1 if there is no next item

Exceptions

arcs::common_interface::AuboException

Python function prototype

getConveyorTrackNextItem(self: pyaubo_sdk.MotionControl, arg0: int) -> int

Lua function prototype

getConveyorTrackNextItem(encoder_id: number) -> int

JSON-RPC Request Example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getConveyorTrackNextItem","params":[0],"id":1}

JSON-RPC Response Example

{"id":1,"jsonrpc":"2.0","result":{10}}

getConveyorTrackQueue()

std::vector< int > arcs::common_interface::MotionControl::getConveyorTrackQueue

(

int

encoder_id

)

Get encoder values of the conveyor queue

Parameters

encoder_id

Reserved

Returns

Exceptions

arcs::common_interface::AuboException

Python function prototype

getConveyorTrackQueue(self: pyaubo_sdk.MotionControl, arg0: int) -> List[int]

Lua function prototype

getConveyorTrackQueue(encoder_id: number) -> table

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getConveyorTrackQueue","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":{[-500,-200,150,-50]}}

getDuration()

double arcs::common_interface::MotionControl::getDuration

(

int

id

)

Get the expected execution duration of the motion segment with the specified ID.

Parameters

id	Motion segment ID

Returns

Returns the expected execution duration

Exceptions

arcs::common_interface::AuboException

Python function prototype

getDuration(self: pyaubo_sdk.MotionControl, arg0: int) -> float

Lua function prototype

getDuration(id: number) -> number

Lua example

num = getDuration(16)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getDuration","params":[16],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0.0}

getEqradius()

double arcs::common_interface::MotionControl::getEqradius

(

)

Get the equivalent radius, in meters.

When using moveLine/moveCircle, the rotation angle of the end effector's pose is converted to an equivalent end position movement. Can be set via setEqradius, default is 1.

Returns

Returns the equivalent radius.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getEqradius(self: pyaubo_sdk.MotionControl) -> float

Lua function prototype

getEqradius() -> number

Lua example

num = getEqradius()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getEqradius","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":1.0}

getExecId()

int arcs::common_interface::MotionControl::getExecId

(

)

Get the ID of the currently interpolating motion instruction segment.

Returns

The ID of the currently interpolating motion instruction segment.

Return values

-1	Indicates the trajectory queue is empty. Both the buffer in movePathBuffer motion and the queue in the planner (such as moveJoint and moveLine) belong to the trajectory queue.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getExecId(self: pyaubo_sdk.MotionControl) -> int

Lua function prototype

getExecId() -> number

Lua example

num = getExecId()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getExecId","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":-1}

getFuturePathPointsJoint()

std::vector< std::vector< double > > arcs::common_interface::MotionControl::getFuturePathPointsJoint

(

)

Get trajectory points on the future path

Returns

Waypoints (100ms * 10)

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getFuturePathPointsJoint","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[]}

getLookAheadSize()

int arcs::common_interface::MotionControl::getLookAheadSize

(

)

Get look-ahead segment size

Returns

Returns the look-ahead segment size

Exceptions

arcs::common_interface::AuboException

Python function prototype

getLookAheadSize(self: pyaubo_sdk.MotionControl) -> int

Lua function prototype

getLookAheadSize() -> number

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getLookAheadSize","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":1}

getMotionLeftTime()

double arcs::common_interface::MotionControl::getMotionLeftTime

(

int

id

)

Get the remaining execution time of the motion segment with the specified ID.

Parameters

id	Motion segment ID

Returns

Returns the remaining execution time

Exceptions

arcs::common_interface::AuboException

Python function prototype

getMotionLeftTime(self: pyaubo_sdk.MotionControl, arg0: int) -> float

Lua function prototype

getMotionLeftTime(id: number) -> number

Lua example

num = getMotionLeftTime(16)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getMotionLeftTime","params":[16],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0.0}

getPauseJointPositions()

std::vector< double > arcs::common_interface::MotionControl::getPauseJointPositions

(

)

Note

Get the joint positions at the pause point.

Commonly used during process recovery after a collision occurs (first move to the pause position using resumeMoveJoint or resumeMoveLine, then resume the process).

Returns

Pause joint positions

Exceptions

arcs::common_interface::AuboException

Python function prototype

getPauseJointPositions(self: pyaubo_sdk.MotionControl) -> List[float]

Lua function prototype

getPauseJointPositions() -> table

Lua example

JointPositions = getPauseJointPositions()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getPauseJointPositions","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[8.2321e-13,-0.200999,1.33999,0.334999,1.206,-6.39383e-12]}

getProgress()

double arcs::common_interface::MotionControl::getProgress

(

)

Get the execution progress of the current motion instruction segment.

Returns

Returns the execution progress.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getProgress(self: pyaubo_sdk.MotionControl) -> float

Lua function prototype

getProgress() -> number

Lua example

num = getProgress()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getProgress","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0.0}

getQueueSize()

int arcs::common_interface::MotionControl::getQueueSize

(

)

Get the number of enqueued instruction segments (INST), including motion instructions such as moveJoint/moveLine/moveCircle and configuration instructions such as setPayload.

Instructions are generally indicated with _INST in macro definitions, for example: _INST(MotionControl, 5, moveJoint, q, a, v, blend_radius, duration)

Returns

The number of enqueued instruction segments.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getQueueSize(self: pyaubo_sdk.MotionControl) -> int

Lua function prototype

getQueueSize() -> number

Lua example

num = getQueueSize()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getQueueSize","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

getResumeMode()

int arcs::common_interface::MotionControl::getResumeMode

(

)

Get resume motion mode

Returns

0: Resume start point is the pause point; 1: Resume start point is the specified point

Exceptions

arcs::common_interface::AuboException

Python function prototype

getResumeMode(self: pyaubo_sdk.MotionControl) -> int

Lua function prototype

getResumeMode() -> int

Lua example

num = getResumeMode()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getResumeMode","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":false}

getServoModeSelect()

int arcs::common_interface::MotionControl::getServoModeSelect

(

)

Get the servo motion mode

Returns

Lua function prototype

getServoModeSelect() -> number

Lua example

num = getServoModeSelect()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getServoModeSelect","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

getSpeedFraction()

double arcs::common_interface::MotionControl::getSpeedFraction

(

)

Get the speed and acceleration ratio, default is 1.

Can be set via setSpeedFraction interface.

Returns

Returns the speed and acceleration ratio.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getSpeedFraction(self: pyaubo_sdk.MotionControl) -> float

Lua function prototype

getSpeedFraction() -> number

Lua example

num = getSpeedFraction()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getSpeedFraction","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":1.0}

getTrajectoryQueueSize()

int arcs::common_interface::MotionControl::getTrajectoryQueueSize

(

)

Get the number of enqueued motion planning interpolation points

Returns

The number of enqueued motion planning interpolation points

Exceptions

arcs::common_interface::AuboException

Python function prototype

getTrajectoryQueueSize(self: pyaubo_sdk.MotionControl) -> int

Lua function prototype

getTrajectoryQueueSize() -> number

Lua example

num = getTrajectoryQueueSize()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getTrajectoryQueueSize","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

getWorkObjectHold()

std::tuple< std::string, std::vector< double > > arcs::common_interface::MotionControl::getWorkObjectHold

(

)

getWorkObjectHold

Note

Not implemented yet

Returns

Returns a tuple containing the control module name and mounting pose

Exceptions

arcs::common_interface::AuboException

Python function prototype

getWorkObjectHold(self: pyaubo_sdk.MotionControl) -> Tuple[str, List[float]]

Lua function prototype

getWorkObjectHold() -> table

Lua example

Object_table = getWorkObjectHold()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.getWorkObjectHold","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":["",[]]}

hasItemOnConveyorToTrack()

bool arcs::common_interface::MotionControl::hasItemOnConveyorToTrack

(

int

encoder_id

)

Whether there is an item on the conveyor that can be tracked

Parameters

encoder_id

Reserved

Returns

If the first item in the queue is in tracking state, returns true. If the first item is not in tracking state, checks the rest of the queue for items within the start window. Items outside the start window are dequeued until an item is found within the window, which is then set to tracking state and returns true. If no item in the queue is within the start window, returns false.

Exceptions

arcs::common_interface::AuboException

Python function prototype

hasItemOnConveyorToTrack(self: pyaubo_sdk.MotionControl) -> bool

Lua function prototype

hasItemOnConveyorToTrack() -> boolean

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.hasItemOnConveyorToTrack","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":{true}}

isBlending()

bool arcs::common_interface::MotionControl::isBlending

(

)

Whether it is in the blending area

Returns

Returns true if in the blending area; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Lua function prototype

isBlending() -> bool

Lua example

status = isBlending()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.isBlending","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":false}

isConveyorTrackExceed()

bool arcs::common_interface::MotionControl::isConveyorTrackExceed

(

int

encoder_id

)

Whether the workpiece on the conveyor has moved beyond the maximum limit

Parameters

encoder_id

Reserved

Returns

true : The movement distance exceeds the maximum limit false : The movement distance does not exceed the maximum limit

Exceptions

arcs::common_interface::AuboException

Python function prototype

isConveyorTrackExceed(self: pyaubo_sdk.MotionControl, arg0: int) -> bool

Lua function prototype

isConveyorTrackExceed(encoder_id: number) -> bool

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.isConveyorTrackExceed","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":false}

isConveyorTrackSync()

bool arcs::common_interface::MotionControl::isConveyorTrackSync

(

int

encoder_id

)

Determine whether the conveyor and the robot arm have reached relative rest

Parameters

encoder_id

Reserved

Returns

Exceptions

arcs::common_interface::AuboException

Python function prototype

isConveyorTrackSync(self: pyaubo_sdk.MotionControl, arg0: int) -> bool

Lua function prototype

isConveyorTrackSync(encoder_id: number) -> bool

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.isConveyorTrackSync","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":false}

isJointSoftServoEnabled()

bool arcs::common_interface::MotionControl::isJointSoftServoEnabled

(

)

Determine whether the joint current loop stiffness coefficient is enabled.

Returns

Returns true if enabled, otherwise returns false.

Exceptions

arcs::common_interface::AuboException

Python function prototype

isJointSoftServoEnabled(self: pyaubo_sdk.MotionControl) -> bool

Lua function prototype

isJointSoftServoEnabled() -> boolean

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.isJointSoftServoEnabled","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":1}

isServoModeEnabled()

ARCS_DEPRECATED bool arcs::common_interface::MotionControl::isServoModeEnabled

(

)

Determine whether the servo mode is enabled.

Use getServoModeSelect instead.

Returns

Returns true if enabled, otherwise returns false.

Exceptions

arcs::common_interface::AuboException

Python function prototype

isServoModeEnabled(self: pyaubo_sdk.MotionControl) -> bool

Lua function prototype

isServoModeEnabled() -> boolean

Lua example

Servo_status = isServoModeEnabled()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.isServoModeEnabled","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":false}

isSpeedFractionCritical()

bool arcs::common_interface::MotionControl::isSpeedFractionCritical

(

)

Whether it is in the speed fraction critical section

Returns

Returns true if in the speed fraction critical section; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Lua function prototype

isSpeedFractionCritical() -> bool

Lua example

status = isSpeedFractionCritical()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.isSpeedFractionCritical","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":true}

isSupportedTimeOptimal()

bool arcs::common_interface::MotionControl::isSupportedTimeOptimal

(

)

Check whether the time optimal algorithm is supported true - supported false - not supported

Returns

Return whether the time-optimal algorithm is supported

Exceptions

arcs::common_interface::AuboException

Python function prototype

isSupportedTimeOptimal(self: pyaubo_sdk.MotionControl) -> bool

Lua function prototype

isSupportedTimeOptimal() -> boolean

Lua example

flag = isSupportedTimeOptimal()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.isSupportedTimeOptimal","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":true}

isTimeOptimalEnabled()

bool arcs::common_interface::MotionControl::isTimeOptimalEnabled

(

)

Get the time optimal algorithm state: true - enable false - disable

Returns

Returns the time optimal algorithm state

Exceptions

arcs::common_interface::AuboException

Python function prototype

isTimeOptimalEnabled(self: pyaubo_sdk.MotionControl) -> bool

Lua function prototype

isTimeOptimalEnabled() -> boolean

Lua example

flag = isTimeOptimalEnabled()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.isTimeOptimalEnabled","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":true}

jointOffsetDisable()

int arcs::common_interface::MotionControl::jointOffsetDisable

(

)

Disable joint offset

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BAD_STATE AUBO_BUSY -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

jointOffsetDisable(self: pyaubo_sdk.MotionControl) -> int

Lua function prototype

jointOffsetDisable() -> nil

Lua example

jointOffsetDisable()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.jointOffsetDisable","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

jointOffsetEnable()

int arcs::common_interface::MotionControl::jointOffsetEnable

(

)

Enable joint offset

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BAD_STATE AUBO_BUSY -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

jointOffsetEnable(self: pyaubo_sdk.MotionControl) -> int

Lua function prototype

jointOffsetEnable() -> nil

Lua example

jointOffsetEnable()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.jointOffsetEnable","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

jointOffsetSet()

int arcs::common_interface::MotionControl::jointOffsetSet	(	const std::vector< double > &	offset,
		int	type = 1
	)

Set joint offset

Parameters

offset	Pose offset for each joint
type

Returns

Returns 0 on success; otherwise returns error code AUBO_BAD_STATE AUBO_BUSY -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

jointOffsetSet(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: int) -> int

Lua function prototype

jointOffsetSet(offset: table, type: number) -> nil

Lua example

jointOffsetSet({0.1,0,0,0,0,0},1)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.jointOffsetSet","params":[[0.1,0,0,0,0],1],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

moveCircle()

int arcs::common_interface::MotionControl::moveCircle	(	const std::vector< double > &	via_pose,
		const std::vector< double > &	end_pose,
		double	a,
		double	v,
		double	blend_radius,
		double	duration
	)

Add circular arc motion

Parameters

via_pose	The pose of the via point during the arc motion
end_pose	The pose of the end point of the arc motion
a	Acceleration (if the position change between via_pose and the previous waypoint is less than 1mm and the posture change is greater than 1e-4 rad, this acceleration is treated as angular acceleration in rad/s^2; otherwise, as linear acceleration in m/s^2)
v	Velocity (if the position change between via_pose and the previous waypoint is less than 1mm and the posture change is greater than 1e-4 rad, this velocity is treated as angular velocity in rad/s; otherwise, as linear velocity in m/s)
blend_radius	Blend radius, unit: m
duration	Execution time, unit: s Normally, when speed and acceleration are given, the trajectory duration can be determined. If you want to extend the trajectory duration, set the duration parameter. Duration can extend the trajectory time, but cannot shorten it. When duration = 0, it means the execution time is not specified, and the time will be calculated based on speed and acceleration. If duration is not 0, a and v values will be ignored.

Returns

Returns 0 on success; otherwise returns error code AUBO_BAD_STATE AUBO_BUSY -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

moveCircle(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: List[float], arg2: float, arg3: float, arg4: float, arg5: float) -> int

Lua function prototype

moveCircle(via_pose: table, end_pose: table, a: number, v: number, blend_radius: number, duration: number) -> nil

Lua example

moveCircle({0.440164,-0.00249391,0.398658,2.45651,0,1.5708},{0.440164,0.166256,0.297599,2.45651,0,1.5708},1.2,0.25,0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.moveCircle","params":[[0.440164,-0.00249391,0.398658,2.45651,0,1.5708],[0.440164,0.166256,0.297599,2.45651,0,1.5708],1.2,0.25,0,0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

moveCircle2()

int arcs::common_interface::MotionControl::moveCircle2

(

const CircleParameters &

param

)

Advanced arc or circular motion

Parameters

param

Circular motion parameters

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BAD_STATE AUBO_BUSY -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

moveCircle2(self: pyaubo_sdk.MotionControl, arg0: arcs::common_interface::CircleParameters) -> int

Lua function prototype

moveCircle2(param: table) -> nil

Lua example

moveCircle2({0.440164,-0.00249391,0.398658,2.45651,0,1.570},{0.440164,0.166256,0.297599,2.45651,0,1.5708},1.2,0.25,0,0,0,0,0,0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.moveCircle2","params":[{"pose_via":[0.440164,-0.00249391,0.398658,2.45651,0,1.570], "pose_to":[0.440164,0.166256,0.297599,2.45651,0,1.5708],"a":1.2,"v":0.25,"blend_radius":0,"duration":0,"helix":0, "spiral":0,"direction":0,"loop_times":0}],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

moveCircleWithAxisGroup()

int arcs::common_interface::MotionControl::moveCircleWithAxisGroup	(	const std::vector< double > &	via_pose,
		const std::vector< double > &	end_pose,
		double	a,
		double	v,
		double	blend_radius,
		double	duration,
		const std::string &	group_name,
		const std::vector< double > &	extq
	)

moveCircle with external axes synchronized motion

Parameters

group_name	Name of the external axis group
via_pose	The pose of the via point during the arc motion
end_pose	The pose of the end point of the arc motion
a	Acceleration
v	Velocity
blend_radius	Blend radius
duration	Execution time

Returns

moveIntersection()

int arcs::common_interface::MotionControl::moveIntersection	(	const std::vector< std::vector< double > > &	poses,
		double	a,
		double	v,
		double	main_pipe_radius,
		double	sub_pipe_radius,
		double	normal_distance,
		double	normal_alpha
	)

Intersection interface

Parameters

poses	Consists of three taught poses (first, move to the starting point. The starting point requirement: the intersection of the plane passing through the main cylinder axis and parallel to the sub-cylinder axis with the sub-cylinder at the bottom) p1: Intersection of the plane passing through the sub-cylinder axis and parallel to the main cylinder axis with the sub-cylinder at the left top p2: Intersection of the plane passing through the sub-cylinder axis and parallel to the main cylinder axis with the main cylinder at the left bottom p3: Intersection of the plane passing through the sub-cylinder axis and parallel to the main cylinder axis with the main cylinder at the right bottom
v	Velocity
a	Acceleration
main_pipe_radius	Main cylinder radius
sub_pipe_radius	Sub cylinder radius
normal_distance	Distance between the two cylinder axes
normal_alpha	Angle between the two cylinder axes

Returns

Returns 0 on success; otherwise returns an error code AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

moveIntersection(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, arg2: float, arg3: float, arg4: float, arg5: float, arg6: float) -> int

Lua function prototype

moveIntersection(poses: table, a: number, v: number, main_pipe_radius: number, sub_pipe_radius: number, normal_distance: number, normal_alpha: number) -> nil

moveJoint()

int arcs::common_interface::MotionControl::moveJoint	(	const std::vector< double > &	q,
		double	a,
		double	v,
		double	blend_radius,
		double	duration
	)

Add joint motion

Parameters

q	Joint angles, unit: rad
a	Acceleration, unit: rad/s^2, The maximum value can be obtained via RobotConfig::getJointMaxAccelerations()
v	Velocity, unit: rad/s, The maximum value can be obtained via RobotConfig::getJointMaxSpeeds()
blend_radius	Blend radius, unit: m
duration	Execution time, unit: s Normally, when speed and acceleration are given, the trajectory duration can be determined. If you want to extend the trajectory duration, set the duration parameter. Duration can extend the trajectory time, but cannot shorten it. When duration = 0, it means the execution time is not specified, and the time will be calculated based on speed and acceleration. If duration is not 0, a and v values will be ignored.

Return values

0	Success
AUBO_BAD_STATE(1)	The current safety mode is not Normal, ReducedMode, or Recovery
AUBO_QUEUE_FULL(2)	Planning queue is full
AUBO_BUSY(3)	The previous instruction is being executed
-AUBO_BAD_STATE(-1)	Possible reasons include but are not limited to: thread has been detached, thread terminated, task_id not found, or the current robot mode is not Running
-AUBO_TIMEOUT(-4)	Interface call timeout
-AUBO_INVL_ARGUMENT(-5)	The length of q is less than the degrees of freedom of the current robot arm
AUBO_REQUEST_IGNORE(13)	The length of q is too short and there is no need to stop at that point

Exceptions

arcs::common_interface::AuboException

Python function prototype

moveJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, arg2: float, arg3: float, arg4: float) -> int

Lua function prototype

moveJoint(q: table, a: number, v: number, blend_radius: number, duration: number) -> nil

Lua example

moveJoint({-2.05177,-0.400292, 1.19625, 0.0285152, 1.57033, -2.28774},0.3,0.3,0,0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.moveJoint","params":[[-2.05177, -0.400292, 1.19625, 0.0285152, 1.57033, -2.28774],0.3,0.3,0,0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

moveJointWithAxisGroup()

int arcs::common_interface::MotionControl::moveJointWithAxisGroup	(	const std::vector< double > &	q,
		double	a,
		double	v,
		double	blend_radius,
		double	duration,
		const std::string &	group_name,
		const std::vector< double > &	extq
	)

Synchronous motion of robot and external axes

Parameters

group_name
q
a
v
blend_radius
duration

Returns

moveLine()

int arcs::common_interface::MotionControl::moveLine	(	const std::vector< double > &	pose,
		double	a,
		double	v,
		double	blend_radius,
		double	duration
	)

Add linear motion

Parameters

pose	Target pose
a	Acceleration (if the position change is less than 1mm and the posture change is greater than 1e-4 rad, this acceleration is treated as angular acceleration in rad/s^2; otherwise, as linear acceleration in m/s^2). The maximum value can be obtained via RobotConfig::getTcpMaxAccelerations().
v	Velocity (if the position change is less than 1mm and the posture change is greater than 1e-4 rad, this velocity is treated as angular velocity in rad/s; otherwise, as linear velocity in m/s). The maximum value can be obtained via RobotConfig::getTcpMaxSpeeds().
blend_radius	Blend radius, unit: m, value between 0.001 and 1
duration	Execution time, unit: s Normally, when speed and acceleration are given, the trajectory duration can be determined. If you want to extend the trajectory duration, set the duration parameter. Duration can extend the trajectory time, but cannot shorten it. When duration = 0, it means the execution time is not specified, and the time will be calculated based on speed and acceleration. If duration is not 0, a and v values will be ignored.

Return values

0	Success
AUBO_BAD_STATE(1)	The current safety mode is not Normal, ReducedMode, or Recovery
AUBO_QUEUE_FULL(2)	Trajectory queue is full
AUBO_BUSY(3)	The previous instruction is being executed
-AUBO_BAD_STATE(-1)	Possible reasons include but are not limited to: thread has been detached, thread terminated, task_id not found, or the current robot mode is not Running
-AUBO_TIMEOUT(-4)	Interface call timeout
-AUBO_INVL_ARGUMENT(-5)	The length of the pose array is less than the degrees of freedom of the current robot arm
AUBO_REQUEST_IGNORE(13)	The length of the pose array is too short and there is no need to stop at that point

Exceptions

arcs::common_interface::AuboException

Python function prototype

moveLine(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, arg2: float, arg3: float, arg4: float) -> int

Lua function prototype

moveLine(pose: table, a: number, v: number, blend_radius: number, duration: number) -> nil

Lua example

moveLine({0.58815,0.0532,0.62391,2.46,0.479,1.619},1.3,1.0,0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.moveLine","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],1.2,0.25,0,0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

moveLineWithAxisGroup()

int arcs::common_interface::MotionControl::moveLineWithAxisGroup	(	const std::vector< double > &	pose,
		double	a,
		double	v,
		double	blend_radius,
		double	duration,
		const std::string &	group_name,
		const std::vector< double > &	extq
	)

Linear motion synchronized with external axes

Parameters

group_name	Name of the external axis group
pose	Target pose
a	Acceleration
v	Velocity
blend_radius	Blend radius
duration	Execution time

Returns

movePathBuffer()

int arcs::common_interface::MotionControl::movePathBuffer

(

const std::string &

name

)

Execute the cached path

Parameters

name	Name of the cached path

Returns

Returns 0 on success; otherwise returns an error code -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

movePathBuffer(self: pyaubo_sdk.MotionControl, arg0: str) -> int

Lua function prototype

movePathBuffer(name: string) -> nil

Lua example

movePathBuffer("traje_name")

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.movePathBuffer","params":["rec"],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

moveProcess()

int arcs::common_interface::MotionControl::moveProcess	(	const std::vector< double > &	pose,
		double	a,
		double	v,
		double	blend_radius
	)

Add process motion

Parameters

pose
a
v
blend_radius

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BAD_STATE AUBO_BUSY -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Lua function prototype

moveProcess(pose: table, a: number, v: number, blend_radius: number, duration: number) -> nil

Lua example

moveProcess({0.58815,0.0532,0.62391,2.46,0.479,1.619},1.2,0.25,0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.moveProcess","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],1.2,0.25,0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

moveSpiral()

int arcs::common_interface::MotionControl::moveSpiral	(	const SpiralParameters &	param,
		double	blend_radius,
		double	v,
		double	a,
		double	t
	)

Spiral motion

Parameters

param	Encapsulated parameters
blend_radius
v
a
t

Returns

Returns 0 on success; otherwise returns an error code AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.moveSpiral", "params":[{"spiral":0.005,"helix":0.005,"angle":18.84,"plane":0,"frame":[0,0,0,0,0,0]},0,0.25,1.2,0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

moveSpline()

int arcs::common_interface::MotionControl::moveSpline	(	const std::vector< double > &	q,
		double	a,
		double	v,
		double	duration
	)

Perform spline interpolation in joint space

Parameters

q	Joint angles. If the input vector is of size 0, it indicates the end of the spline motion.
a	Acceleration, unit: rad/s^2. The maximum value can be obtained via RobotConfig::getJointMaxAccelerations().
v	Velocity, unit: rad/s. The maximum value can be obtained via RobotConfig::getJointMaxSpeeds().
duration

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

moveSpline(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, arg2: float, arg3: float) -> int

Lua function prototype

moveSpline(q: table, a: number, v: number, duration: number) -> nil

Lua example

moveSpline({-2.05177,-0.400292, 1.19625, 0.0285152, 1.57033, -2.28774},1.3,1.0,0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.moveSpline","params":[[0,0,0,0,0,0],1,1,0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

pathBufferAlloc()

int arcs::common_interface::MotionControl::pathBufferAlloc	(	const std::string &	name,
		int	type,
		int	size
	)

Create a new path point buffer

Parameters

name	Name of the path
type	Type of the path 1: toppra time-optimal path planning 2: cubic_spline (recorded trajectory) 3: Joint B-spline interpolation, at least three points
size	Buffer size

Returns

Returns AUBO_OK(0) on success

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathBufferAlloc(self: pyaubo_sdk.MotionControl, arg0: str, arg1: int, arg2: int) -> int

Lua function prototype

pathBufferAlloc(name: string, type: number, size: number) -> nil

Lua exmaple

pathBufferAlloc("traje_name",5,100)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferAlloc","params":["rec",2,3],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

pathBufferAppend()

int arcs::common_interface::MotionControl::pathBufferAppend	(	const std::string &	name,
		const std::vector< std::vector< double > > &	waypoints
	)

Add waypoints to the path buffer

Parameters

name	Name of the path buffer
waypoints	Waypoints

Returns

Returns 0 on success; otherwise returns an error code -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathBufferAppend(self: pyaubo_sdk.MotionControl, arg0: str, arg1: List[List[float]]) -> int

Lua function prototype

pathBufferAppend(name: string, waypoints: table) -> nil

Lua example

pathBufferAppend("traje_name",{{-0.000000,0.000009,-0.000001,0.000002,0.000002,0.000000},{-0.000001,0.000010,-0.000002,0.000000,0.000003,0.000002}})

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferAppend","params":["rec",[[-0.000000,0.000009,-0.000001,0.000002,0.000002,0.000000],[-0.000001,0.000010,-0.000002,0.000000,0.000003,0.000002]]],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

pathBufferEval()

int arcs::common_interface::MotionControl::pathBufferEval	(	const std::string &	name,
		const std::vector< double > &	a,
		const std::vector< double > &	v,
		double	t
	)

Perform computation and optimization (time-consuming operations).

If the input parameters are the same, the calculation will not be repeated.

Parameters

name	Name of the path point buffer created by pathBufferAlloc
a	Joint acceleration limits, must match the robot DOF, unit: rad/s^2
v	Joint velocity limits, must match the robot DOF, unit: rad/s
t	Time When allocating memory with pathBufferAlloc, the type must be specified. According to the type in pathBufferAlloc: Type 1: t means motion duration Type 2: t means sampling interval Type 3: t means motion duration If t=0, the internal default time is used (recommended) If t!=0, t should be set to number_of_points * interval_between_points (interval >= 0.01)

Returns

Returns 0 on success; otherwise returns an error code -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathBufferEval(self: pyaubo_sdk.MotionControl, arg0: str, arg1: List[float], arg2: List[float], arg3: float) -> int

Lua function prototype

pathBufferEval(name: string, a: table, v: table, t: number) -> nil

Lua example

pathBufferEval("traje_name",{1,1,1,1,1,1},{1,1,1,1,1,1},0.02)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferEval","params":["rec",[1,1,1,1,1,1],[1,1,1,1,1,1],0.02],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

pathBufferFilter()

int arcs::common_interface::MotionControl::pathBufferFilter	(	const std::string &	name,
		int	order,
		double	fd,
		double	fs
	)

Joint space path filter

pathBufferFilter

Parameters

name	Name of the path buffer
order	Filter order (usually 2)
fd	Cutoff frequency, the smaller the smoother but with more delay (usually 3-20)
fs	Sampling frequency of discrete data (usually 20-500)

Returns

Returns 0 on success

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathBufferFilter(self: pyaubo_sdk.MotionControl, arg0: str, arg1: int, arg2: float, arg3: float) -> int

Lua function prototype

pathBufferFilter(name: string, order: number, fd: number, fs:number) -> nil

Lua example

pathBufferFilter("traje_name",2,5,125)

pathBufferFree()

int arcs::common_interface::MotionControl::pathBufferFree

(

const std::string &

name

)

Release path buffer

Parameters

name	Name of the path buffer

Returns

Returns 0 on success; otherwise returns an error code -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathBufferFree(self: pyaubo_sdk.MotionControl, arg0: str) -> int

Lua function prototype

pathBufferFree(name: string) -> nil

Lua example

pathBufferFree("traje_name")

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferFree","params":["rec"],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":-5}

pathBufferList()

std::vector< std::string > arcs::common_interface::MotionControl::pathBufferList

(

)

List all cached path names

Returns

Returns all cached path names

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathBufferList(self: pyaubo_sdk.MotionControl) -> List[str]

Lua function prototype

pathBufferList() -> table

Lua example

Buffer_table = pathBufferList()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferList","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[]}

pathBufferValid()

bool arcs::common_interface::MotionControl::pathBufferValid

(

const std::string &

name

)

Whether the buffer with the specified name is valid

The buffer must meet three conditions to be valid:

1. The buffer exists and memory has been allocated
   
2. The number of points passed into the buffer must be greater than or equal to the buffer size
   
3. pathBufferEval must be executed once

Parameters

name	Name of the buffer

Returns

Returns true if valid; false otherwise

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathBufferValid(self: pyaubo_sdk.MotionControl, arg0: str) -> bool

Lua function prototype

pathBufferValid(name: string) -> boolean

Lua example

buffer_status = pathBufferValid("traje_name")

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferValid","params":["rec"],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":false}

pathOffsetCoordinate()

int arcs::common_interface::MotionControl::pathOffsetCoordinate

(

int

ref_coord

)

Set the reference coordinate system for offset.

Only valid when type=1 in pathOffsetSet.

Parameters

ref_coord

Reference coordinate system: 0-base coordinate, 1-TCP

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathOffsetCoordinate(self: pyaubo_sdk.MotionControl, arg0: int) -> float

Lua function prototype

pathOffsetCoordinate(ref_coord: number) -> number

Lua example

num = pathOffsetCoordinate(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.pathOffsetCoordinate","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

pathOffsetDisable()

int arcs::common_interface::MotionControl::pathOffsetDisable

(

)

Disable path offset

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BAD_STATE AUBO_BUSY -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathOffsetDisable(self: pyaubo_sdk.MotionControl) -> int

Lua function prototype

pathOffsetDisable() -> nil

Lua example

pathOffsetDisable()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.pathOffsetDisable","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

pathOffsetEnable()

int arcs::common_interface::MotionControl::pathOffsetEnable

(

)

Enable path offset

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathOffsetEnable(self: pyaubo_sdk.MotionControl) -> int

Lua function prototype

pathOffsetEnable() -> number

Lua example

num = pathOffsetEnable()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.pathOffsetEnable","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

pathOffsetLimits()

int arcs::common_interface::MotionControl::pathOffsetLimits	(	double	v,
		double	a
	)

Set the maximum speed and maximum acceleration for offset.

Only valid when type=1 in pathOffsetSet.

Parameters

v	Maximum speed
a	Maximum acceleration

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathOffsetLimits(self: pyaubo_sdk.MotionControl, arg0: float, arg1: float) -> int

Lua function prototype

pathOffsetLimits(v: number, a: number) -> nil

Lua example

pathOffsetLimits(1.5,2.5)

pathOffsetSet()

int arcs::common_interface::MotionControl::pathOffsetSet	(	const std::vector< double > &	offset,
		int	type = 0
	)

Set path offset

Parameters

offset	Pose offset in each direction
type	Motion type 0-position planning 1-velocity planning

Returns

Returns 0 on success; otherwise returns error code AUBO_BAD_STATE AUBO_BUSY -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathOffsetSet(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: int) -> int

Lua function prototype

pathOffsetSet(offset: table, type: number) -> nil

Lua example

pathOffsetSet({ 0, 0, 0.1, 0, 0, 0 }, 0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.pathOffsetSet","params":[[0,0,0.01,0,0,0],0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

pathOffsetSupv()

int arcs::common_interface::MotionControl::pathOffsetSupv	(	const std::vector< double > &	min,
		const std::vector< double > &	max,
		int	strategy
	)

Monitor trajectory offset range

Parameters

min	Maximum offset in the negative direction of the coordinate axis
max	Maximum offset in the positive direction of the coordinate axis
strategy	Monitoring strategy after reaching the maximum offset 　　　　0 - Disable monitoring 　　　　1 - Saturation limit, i.e., maintain maximum pose 　　　　2 - Protective stop

Returns

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathOffsetSupv(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: List[float], arg2: int) -> int

Lua function prototype

pathOffsetSupv(min: table, max: table, strategy: number) -> number

Lua example

num = pathOffsetSupv({0,0,-0.2,0,0,0},{0,0,0.5,0,0,0},0)

restoPath()

int arcs::common_interface::MotionControl::restoPath

(

)

restoPath

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BAD_STATE AUBO_BUSY -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Lua function prototype

restoPath() -> number

Lua example

num restoPath()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.restoPath","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

resumeMoveJoint()

int arcs::common_interface::MotionControl::resumeMoveJoint	(	const std::vector< double > &	q,
		double	a,
		double	v,
		double	duration
	)

Move to the pause point using joint motion.

Parameters

q	Joint angles, unit: rad
a	Acceleration, unit: rad/s^2
v	Velocity, unit: rad/s
duration	Execution time, unit: s Normally, when speed and acceleration are given, the trajectory duration can be determined. If you want to extend the trajectory duration, set the duration parameter. Duration can extend the trajectory time, but cannot shorten it. When duration = 0, it means the execution time is not specified, and the time will be calculated based on speed and acceleration. If duration is not 0, a and v values will be ignored.

Returns

Returns 0 on success; otherwise returns error code -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

resumeMoveJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, arg2: float, arg3: float) -> int

Lua function prototype

resumeMoveJoint(q: table, a: number, v: number, duration: number) -> nil

Lua example

resumeMoveJoint({-2.05177,-0.400292, 1.19625, 0.0285152, 1.57033, -2.28774},1.3,1.0,0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.resumeMoveJoint","params":[[-2.05177, -0.400292, 1.19625, 0.0285152, 1.57033, -2.28774],0.3,0.3,0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":-1}

resumeMoveLine()

int arcs::common_interface::MotionControl::resumeMoveLine	(	const std::vector< double > &	pose,
		double	a,
		double	v,
		double	duration
	)

Move to the pause point using linear motion.

Parameters

pose	Target pose
a	Acceleration, unit: m/s^2
v	Velocity, unit: m/s
duration	Execution time, unit: s Normally, when speed and acceleration are given, the trajectory duration can be determined. If you want to extend the trajectory duration, set the duration parameter. Duration can extend the trajectory time, but cannot shorten it. When duration = 0, it means the execution time is not specified, and the time will be calculated based on speed and acceleration. If duration is not 0, a and v values will be ignored.

Returns

Returns 0 on success; otherwise returns error code -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

resumeMoveLine(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, arg2: float, arg3: float) -> int

Lua function prototype

resumeMoveLine(pose: table, a: number, v: number, duration: number) -> nil

Lua example

resumeMoveLine({0.58815,0.0532,0.62391,2.46,0.479,1.619},1.2,0.25,0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.resumeMoveLine","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],1.2,0.25,0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

resumeSpeedJoint()

int arcs::common_interface::MotionControl::resumeSpeedJoint	(	const std::vector< double > &	qd,
		double	a,
		double	t
	)

Joint space velocity following (used to move to a safe position after a collision during process execution)

When the robot arm has not yet reached the target velocity, giving a new target velocity will cause the robot arm to immediately reach the new target velocity.

Parameters

qd	Target joint velocity, unit: rad/s
a	Main axis acceleration, unit: rad/s^2
t	Time required for the function to return, unit: s If t = 0, the function returns when the target velocity is reached; otherwise, the function returns after t seconds, regardless of whether the target velocity is reached. If the target velocity is not reached, it will decelerate to zero. If the target velocity is reached, it will move at a constant speed.

Returns

Returns 0 on success; otherwise returns error code AUBO_BUSY -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

resumeSpeedJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, arg2: float) -> int

Lua function prototype

resumeSpeedJoint(q: table, a: number, t: number) -> nil

Lua example

resumeSpeedJoint({0.2,0,0,0,0,0},1.5,10)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.resumeSpeedJoint","params":[[0.2,0,0,0,0,0],1.5,100],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":-1}

resumeSpeedLine()

int arcs::common_interface::MotionControl::resumeSpeedLine	(	const std::vector< double > &	xd,
		double	a,
		double	t
	)

Cartesian space velocity following (used to move to a safe position after a collision during process execution)

When the robot arm has not yet reached the target velocity, giving a new target velocity will cause the robot arm to immediately reach the new target velocity.

Parameters

xd	Tool velocity, unit: m/s
a	Tool position acceleration, unit: m/s^2
t	Time required for the function to return, unit: s If t = 0, the function returns when the target velocity is reached; otherwise, the function returns after t seconds, regardless of whether the target velocity is reached. If the target velocity is not reached, it will decelerate to zero. If the target velocity is reached, it will move at a constant speed.

Returns

Returns 0 on success; otherwise returns error code -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

resumeSpeedLine(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, arg2: float) -> int

Lua function prototype

resumeSpeedLine(pose: table, a: number, t: number) -> nil

Lua example

resumeSpeedLine({0.25,0,0,0,0,0},1.2,100)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.resumeSpeedLine","params":[[0.25,0,0,0,0,0],1.2,100],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":-1}

resumeStopJoint()

int arcs::common_interface::MotionControl::resumeStopJoint

(

double

acc

)

Stop motion in joint space (used after moving to a safe position via resumeSpeedJoint following a collision during process execution)

Parameters

acc	Joint acceleration, unit: rad/s^2

Returns

Returns 0 on success; otherwise returns an error code AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

resumeStopJoint(self: pyaubo_sdk.MotionControl, arg0: float) -> int

Lua function prototype

resumeStopJoint(acc: number) -> nil

Lua example

resumeStopJoint(31)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.resumeStopJoint","params":[31],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":-1}

resumeStopLine()

int arcs::common_interface::MotionControl::resumeStopLine	(	double	acc,
		double	acc_rot
	)

Stop motion in Cartesian space (used after moving to a safe position via resumeSpeedLine following a collision during process execution)

Parameters

acc	Position acceleration, unit: m/s^2
acc_rot	Orientation acceleration, unit: rad/s^2

Returns

Returns 0 on success; otherwise returns an error code AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

resumeStopLine(self: pyaubo_sdk.MotionControl, arg0: float, arg1: float) -> int

Lua function prototype

resumeStopLine(acc: number, acc_rot: number) -> nil

Lua example

resumeStopLine(10,10)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.resumeStopLine","params":[10,10],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":-1}

servoCartesian()

int arcs::common_interface::MotionControl::servoCartesian	(	const std::vector< double > &	pose,
		double	a,
		double	v,
		double	t,
		double	lookahead_time,
		double	gain
	)

Cartesian space servo

Currently, only pose and t parameters are available;

Parameters

pose	Pose, unit: m
a	Acceleration, unit: m/s^2
v	Velocity, unit: m/s
t	Execution time, unit: s The larger the t value, the slower the robot moves, and vice versa; The optimal value for this parameter is the interval time for continuous calls to the servoCartesian interface.
lookahead_time	Lookahead time, unit: s Specifies the duration to move before the robot starts to decelerate, used to smooth the trajectory [0.03, 0.2]. When lookahead_time is less than one control cycle, the smaller it is, the greater the overshoot. The optimal value for this parameter is one control cycle.
gain	Proportional gain Proportional gain for tracking the target position [100, 200], used to control the smoothness and accuracy of the motion, The larger the proportional gain, the longer it takes to reach the target position, and the smaller the overshoot.

Return values

0	Success
AUBO_BAD_STATE(1)	The current safety mode is not Normal, ReducedMode, or Recovery
AUBO_QUEUE_FULL(2)	Planning queue is full
AUBO_BUSY(3)	The previous instruction is being executed
-AUBO_BAD_STATE(-1)	Possible reasons include but are not limited to: thread has been detached, thread terminated, task_id not found, or the current robot mode is not Running
-AUBO_TIMEOUT(-4)	Interface call timeout
-AUBO_INVL_ARGUMENT(-5)	Trajectory position or velocity out of range
-AUBO_REQUEST_IGNORE(-13)	Not in servo mode
-AUBO_IK_NO_CONVERGE(-23)	Inverse kinematics calculation does not converge, calculation error;
-AUBO_IK_OUT_OF_RANGE(-24)	Inverse kinematics calculation exceeds robot maximum limits;
AUBO_IK_CONFIG_DISMATCH(-25)	Inverse kinematics input configuration error;
-AUBO_IK_JACOBIAN_FAILED(-26)	Inverse kinematics Jacobian calculation failed;
-AUBO_IK_NO_SOLU(-27)	Analytical solution exists for the target point, but none meet the selection criteria;
-AUBO_IK_UNKOWN_ERROR(-28)	Inverse kinematics returned an unknown error type;

Exceptions

arcs::common_interface::AuboException

Python function prototype

servoCartesian(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, arg2: float, arg3: float, arg4: float, arg5: float) -> int

Lua function prototype

servoCartesian(pose: table, a: number, v: number, t: number, lookahead_time: number, gain: number) -> nil

Lua example

servoCartesian({0.58712,-0.15775,0.48703,2.76,0.344,1.432},0,0,10,0,0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.servoCartesian","params":[[0.58712,-0.15775,0.48703,2.76,0.344,1.432],0,0,10,0,0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":-13}

servoCartesianWithAxes()

int arcs::common_interface::MotionControl::servoCartesianWithAxes	(	const std::vector< double > &	pose,
		const std::vector< double > &	extq,
		double	a,
		double	v,
		double	t,
		double	lookahead_time,
		double	gain
	)

Servo motion (with external axes), used for executing offline trajectories, pass-through user planned trajectories, etc.

The difference from servoJointWithAxes is that it receives Cartesian poses instead of joint angles (inverse kinematics is performed internally by the software).

Parameters

pose
extq
t
smooth_scale
delay_sacle

Returns

servoCartesianWithAxisGroup()

int arcs::common_interface::MotionControl::servoCartesianWithAxisGroup	(	const std::vector< double > &	pose,
		double	a,
		double	v,
		double	t,
		double	lookahead_time,
		double	gain,
		const std::string &	group_name,
		const std::vector< double > &	extq
	)

servoJoint()

int arcs::common_interface::MotionControl::servoJoint	(	const std::vector< double > &	q,
		double	a,
		double	v,
		double	t,
		double	lookahead_time,
		double	gain
	)

Joint space servo

Currently only q and t parameters are available;

Parameters

q	Joint angles, unit: rad
a	Acceleration, unit: rad/s^2
v	Velocity, unit: rad/s
t	Execution time, unit: s The larger the t value, the slower the robot moves, and vice versa; The optimal value for this parameter is the interval time for continuous calls to the servoJoint interface.
lookahead_time	Lookahead time, unit: s Specifies the duration to move before the robot starts to decelerate, used to smooth the trajectory [0.03, 0.2]. When lookahead_time is less than one control cycle, the smaller it is, the greater the overshoot. The optimal value for this parameter is one control cycle.
gain	Proportional gain Proportional gain for tracking the target position [100, 200], used to control the smoothness and accuracy of the motion. The larger the proportional gain, the longer it takes to reach the target position, and the smaller the overshoot.

Return values

0	Success
AUBO_BAD_STATE(1)	The current safety mode is not Normal, ReducedMode, or Recovery
AUBO_QUEUE_FULL(2)	Planning queue is full
AUBO_BUSY(3)	The previous instruction is being executed
-AUBO_BAD_STATE(-1)	Possible reasons include but are not limited to: thread has been detached, thread terminated, task_id not found, or the current robot mode is not Running
-AUBO_TIMEOUT(-4)	Interface call timeout
-AUBO_INVL_ARGUMENT(-5)	Trajectory position or velocity out of range
-AUBO_REQUEST_IGNORE(-13)	Not in servo mode

Exceptions

arcs::common_interface::AuboException

Python function prototype

servoJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, arg2: float, arg3: float, arg4: float, arg5: float) -> int

Lua function prototype

servoJoint(q: table, a: number, v: number, t: number, lookahead_time: number, gain: number) -> nil

Lua example

servoJoint({0,0,0,0,0,0},0,0,10,0,0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.servoJoint","params":[[0,0,0,0,0,0],0,0,10,0,0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":-13}

servoJointWithAxes()

int arcs::common_interface::MotionControl::servoJointWithAxes	(	const std::vector< double > &	q,
		const std::vector< double > &	extq,
		double	a,
		double	v,
		double	t,
		double	lookahead_time,
		double	gain
	)

Servo motion (with external axes), used for executing offline trajectories, pass-through user planned trajectories, etc.

Parameters

q
extq
t
smooth_scale
delay_sacle

Returns

servoJointWithAxisGroup()

int arcs::common_interface::MotionControl::servoJointWithAxisGroup	(	const std::vector< double > &	q,
		double	a,
		double	v,
		double	t,
		double	lookahead_time,
		double	gain,
		const std::string &	group_name,
		const std::vector< double > &	extq
	)

setCirclePathMode()

int arcs::common_interface::MotionControl::setCirclePathMode

(

int

mode

)

Set circle path mode

Parameters

mode

Mode 0: Tool orientation remains unchanged relative to the arc path point coordinate system 1: Orientation changes linearly, rotating around a fixed axis in space, from the start orientation to the target orientation 2: Orientation changes from the start orientation, through the via point orientation, to the target orientation

Returns

Returns 0 on success; otherwise returns an error code AUBO_BAD_STATE AUBO_BUSY -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

setCirclePathMode(self: pyaubo_sdk.MotionControl, arg0: int) -> int

Lua function prototype

setCirclePathMode(mode: number) -> nil

Lua example

setCirclePathMode(1)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.setCirclePathMode","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

setConveyorTrackCompensate()

int arcs::common_interface::MotionControl::setConveyorTrackCompensate	(	int	encoder_id,
		double	comp
	)

Set the compensation value for conveyor tracking

Parameters

encoder_id	Reserved
comp	Conveyor compensation value

Returns

Exceptions

arcs::common_interface::AuboException

Python function prototype

setConveyorTrackCompensate(self: pyaubo_sdk.MotionControl, arg0: int, arg1: float) -> int

Lua function prototype

setConveyorTrackCompensate(comp: number) -> number

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackCompensate","params":[0, 0.1],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

setConveyorTrackEncoder()

int arcs::common_interface::MotionControl::setConveyorTrackEncoder	(	int	encoder_id,
		int	tick_per_meter
	)

Set conveyor encoder parameters

Parameters

encoder_id	Reserved
tick_per_meter	Linear conveyor: pulses per meter Circular conveyor: pulses per revolution

Returns

Exceptions

arcs::common_interface::AuboException

Python function prototype

setConveyorTrackEncoder(self: pyaubo_sdk.MotionControl) -> int

Lua function prototype

setConveyorTrackEncoder(encoder_id: bumber,tick_per_meter: number) -> int

Lua example

num = setConveyorTrackEncoder(1,40000)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackEncoder","params":[1,40000],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

setConveyorTrackLimit()

int arcs::common_interface::MotionControl::setConveyorTrackLimit	(	int	encoder_id,
		double	limit
	)

Set the maximum distance limit for conveyor tracking

Parameters

encoder_id	Reserved
limit	Maximum distance limit for conveyor tracking, unit: meter

Returns

Exceptions

arcs::common_interface::AuboException

Python function prototype

setConveyorTrackLimit(self: pyaubo_sdk.MotionControl, arg0: int, arg1: double) -> int

Lua function prototype

setConveyorTrackLimit(encoder_id: number, limit: number) -> int

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackLimit","params":[0, 1.5],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

setConveyorTrackSensorOffset()

int arcs::common_interface::MotionControl::setConveyorTrackSensorOffset	(	int	encoder_id,
		double	offset
	)

Set the distance from the conveyor teaching position to the sync switch

Parameters

encoder_id	Reserved
offset	Distance from the conveyor teaching position to the sync switch, unit: meter

Returns

Exceptions

arcs::common_interface::AuboException

Python function prototype

setConveyorTrackSensorOffset(self: pyaubo_sdk.MotionControl, arg0: int, arg1: double) -> int

Lua function prototype

setConveyorTrackSensorOffset(encoder_id: number, offset: number) -> int

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackSensorOffset","params":[0, 0.2],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

setConveyorTrackStartWindow()

int arcs::common_interface::MotionControl::setConveyorTrackStartWindow	(	int	encoder_id,
		double	window_min,
		double	window_max
	)

Set the start window for conveyor tracking

Parameters

encoder_id	Reserved
min_window	Start position of the window, unit: meter
max_window	End position of the window, unit: meter

Returns

Exceptions

arcs::common_interface::AuboException

Python function prototype

setConveyorTrackStartWindow(self: pyaubo_sdk.MotionControl, arg0: int, arg1: double, arg2: double) -> int

Lua function prototype

setConveyorTrackStartWindow(encoder_id: number, min_window: number, max_window: number) -> int

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackStartWindow","params":[0, 0.2, 1.0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

setConveyorTrackSyncSeparation()

int arcs::common_interface::MotionControl::setConveyorTrackSyncSeparation	(	int	encoder_id,
		double	distance,
		double	time
	)

Set conveyor sync separation, used to filter out unwanted signals from the sync switch.

Parameters

encoder_id	Reserved
distance	The minimum distance to travel after a sync signal appears before accepting a new sync signal as a valid object, unit: meter
time	The minimum time to elapse after a sync signal appears before accepting a new sync signal as a valid object, unit: second

If distance and time are both set greater than 0, the setting takes effect. If both distance and time are set, distance takes precedence.

Returns

Exceptions

arcs::common_interface::AuboException

Python function prototype

setConveyorTrackSyncSeparation(self: pyaubo_sdk.MotionControl, arg0: int, arg1: double, arg2: double) -> int

Lua function prototype

setConveyorTrackSyncSeparation(encoder_id: number, distance: number, time: number) -> int

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackSyncSeparation","params":[0, 0.05, 0.2],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

setEqradius()

int arcs::common_interface::MotionControl::setEqradius

(

double

eqradius

)

Set the equivalent radius, in meters.

When using moveLine/moveCircle, the rotation angle of the end effector's pose is converted to an equivalent end position movement. The larger the value, the faster the posture rotation speed.

Parameters

eqradius

0 means only plan the movement, and the posture rotation follows the movement.

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BAD_STATE AUBO_BUSY -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.setEqradius","params":[0.8],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

Python function prototype

setEqradius(self: pyaubo_sdk.MotionControl, arg0: float) -> int

Lua function prototype

setEqradius(eqradius: number) -> number

Lua example

num = setEqradius(1)

setFuturePointSamplePeriod()

int arcs::common_interface::MotionControl::setFuturePointSamplePeriod

(

double

sample_time

)

Set the sampling interval for points on the future path

Parameters

sample_time

Sampling interval, unit: m/s^2

Returns

Returns 0 on success; otherwise returns an error code AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

setLookAheadSize()

int arcs::common_interface::MotionControl::setLookAheadSize

(

int

size

)

Set look-ahead segment size

1. For tasks requiring high speed smoothness, such as CNC machining, gluing, welding, etc., a longer look-ahead segment size can provide better speed planning and smoother motion.
2. For fast-response tasks such as picking, a shorter look-ahead segment size is preferred to improve response speed, but may cause large speed fluctuations due to insufficiently timely path feeding.

Returns

Returns 0 on success

Exceptions

arcs::common_interface::AuboException

Python function prototype

setLookAheadSize(self: pyaubo_sdk.MotionControl, arg0: int) -> int

Lua function prototype

setLookAheadSize(eqradius: number) -> number

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.setLookAheadSize","params":[1],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

setResumeStartPoint()

int arcs::common_interface::MotionControl::setResumeStartPoint	(	const std::vector< double > &	q,
		int	move_type,
		double	blend_radius,
		const std::vector< double > &	qdmax,
		const std::vector< double > &	qddmax,
		const std::vector< double > &	vmax,
		const std::vector< double > &	amax
	)

Set resume motion parameters

Parameters

q	Resume start position
move_type	0: Joint space, 1: Cartesian space
blend_radius	Blend radius
qdmax	Maximum joint speed (6 elements)
qddmax	Maximum joint acceleration (6 elements)
vmax	Maximum linear and angular speed for linear motion (2 elements)
amax	Maximum linear and angular acceleration for linear motion (2 elements)

Returns

Returns 0 on success; otherwise returns error code AUBO_BAD_STATE AUBO_BUSY -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

setResumeStartPoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: int, arg2: float, arg3: List[float], arg4: List[float], arg5: float, arg6: float) -> int

Lua function prototype

setResumeStartPoint(q: table, move_type: number, blend_radius: number, qdmax: table, qddmax: table, vmax: number, amax: number) -> nil

Lua example

setResumeStartPoint({0,0,0,0,0,0},1,1,{0,0,0,0,0,0},{0,0,0,0,0,0},{1,1},{1,1})

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.setResumeStartPoint","params":[[0,0,0,0,0,0],1,1,[0,0,0,0,0,0],[0,0,0,0,0,0],1,1],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

setServoMode()

ARCS_DEPRECATED int arcs::common_interface::MotionControl::setServoMode

(

bool

enable

)

Set servo mode Use setServoModeSelect instead

Parameters

enable

Whether to enable

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BAD_STATE AUBO_BUSY -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

setServoMode(self: pyaubo_sdk.MotionControl, arg0: bool) -> int

Lua function prototype

setServoMode(enable: boolean) -> nil

Lua example

setServoMode(true)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.setServoMode","params":[true],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

setServoModeSelect()

int arcs::common_interface::MotionControl::setServoModeSelect

(

int

mode

)

Set servo motion mode

Parameters

mode	0 - Exit servo mode 1 - Planning servo mode 2 - Transparent mode (direct send) 3 - Transparent mode (buffered)

Returns

Lua function prototype

setServoModeSelect(0) -> nil

Lua example

setServoModeSelect(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.setServoModeSelect","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

setSpeedFraction()

int arcs::common_interface::MotionControl::setSpeedFraction

(

double

fraction

)

Dynamically adjust the robot's speed and acceleration ratio (0., 1.

]

Parameters

fraction

The ratio of robot speed and acceleration

Returns

Returns 0 on success; otherwise returns an error code: AUBO_INVL_ARGUMENT AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

setSpeedFraction(self: pyaubo_sdk.MotionControl, arg0: float) -> int

Lua function prototype

setSpeedFraction(fraction: number) -> nil

Lua example

setSpeedFraction(0.5)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.setSpeedFraction","params":[0.8],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

setTimeOptimalEnable()

int arcs::common_interface::MotionControl::setTimeOptimalEnable

(

bool

enable

)

Parameters

enable

Exceptions

arcs::common_interface::AuboException

Lua function prototype

setTimeOptimalEnable() -> number

Lua example

setTimeOptimalEnable(true)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.setTimeOptimalEnable","params":[true],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

setWorkObjectHold()

int arcs::common_interface::MotionControl::setWorkObjectHold	(	const std::string &	module_name,
		const std::vector< double > &	mounting_pose
	)

Specify the name and mounting position when the workpiece is installed on the end of another robot or external axis.

Note

Not implemented yet

Parameters

module_name	Name of the control module
mounting_pose	Relative position of the grasp, if it is a robot, it is relative to the robot's end center point (not the TCP point)

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BAD_STATE AUBO_BUSY -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

setWorkObjectHold(self: pyaubo_sdk.MotionControl, arg0: str, arg1: List[float]) -> int

Lua function prototype

setWorkObjectHold(module_name: string, mounting_pose: table) -> nil

Lua example

setWorkObjectHold("object",{0.2,0.1,-0.4,3.14,0,-1.57})

speedFractionCritical()

int arcs::common_interface::MotionControl::speedFractionCritical

(

bool

enable

)

Speed fraction critical section.

When enabled, the speed fraction is forced to 1. When disabled, the previous speed fraction is restored.

Parameters

enable

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BAD_STATE AUBO_BUSY -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Lua function prototype

speedFractionCritical() -> nil

Lua example

speedFractionCritical(true)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.speedFractionCritical","params":[true],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

speedJoint()

int arcs::common_interface::MotionControl::speedJoint	(	const std::vector< double > &	qd,
		double	a,
		double	t
	)

Joint space velocity following

When the robot arm has not yet reached the target velocity, giving a new target velocity will cause the robot arm to immediately reach the new target velocity.

Parameters

qd	Target joint velocity, unit: rad/s
a	Main axis acceleration, unit: rad/s^2
t	Time required for the function to return, unit: s If t = 0, the function returns when the target velocity is reached; otherwise, the function returns after t seconds, regardless of whether the target velocity is reached. If the target velocity is not reached, it will decelerate to zero. If the target velocity is reached, it will move at a constant speed.

Return values

0	Success
AUBO_BAD_STATE(1)	The current safety mode is not Normal, ReducedMode, or Recovery
AUBO_BUSY(3)	The previous instruction is being executed
-AUBO_BAD_STATE(-1)	Possible reasons include but are not limited to: thread has been detached, thread terminated, task_id not found, or the current robot mode is not Running
-AUBO_TIMEOUT(-4)	Interface call timeout
-AUBO_INVL_ARGUMENT(-5)	The length of the qd array is less than the degrees of freedom of the current robot arm

Exceptions

arcs::common_interface::AuboException

Python function prototype

speedJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, arg2: float) -> int

Lua function prototype

speedJoint(qd: table, a: number, t: number) -> nil

Lua example

speedJoint({0.2,0,0,0,0,0}, 1.5,10)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.speedJoint","params":[[0.2,0,0,0,0,0],1.5,100],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

speedLine()

int arcs::common_interface::MotionControl::speedLine	(	const std::vector< double > &	xd,
		double	a,
		double	t
	)

Cartesian space velocity following

When the robot arm has not yet reached the target velocity, giving a new target velocity will cause the robot arm to immediately reach the new target velocity.

Parameters

xd	Tool velocity, unit: m/s
a	Tool position acceleration, unit: m/s^2
t	Time required for the function to return, unit: s If t = 0, the function returns when the target velocity is reached; otherwise, the function returns after t seconds, regardless of whether the target velocity is reached. If the target velocity is not reached, it will decelerate to zero. If the target velocity is reached, it will move at a constant speed.

Return values

0	Success
AUBO_BAD_STATE(1)	The current safety mode is not Normal, ReducedMode, or Recovery
AUBO_BUSY(3)	The previous instruction is being executed
-AUBO_BAD_STATE(-1)	Possible reasons include but are not limited to: thread has been detached, thread terminated, task_id not found, or the current robot mode is not Running
-AUBO_TIMEOUT(-4)	Interface call timeout

Exceptions

arcs::common_interface::AuboException

Python function prototype

speedLine(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, arg2: float) -> int

Lua function prototype

speedLine(pose: table, a: number, t: number) -> nil

Lua example

speedLine({0.25,0,0,0,0,0},1.2,100)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.speedLine","params":[[0.25,0,0,0,0,0],1.2,100],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

startMove()

int arcs::common_interface::MotionControl::startMove

(

)

StartMove is used to resume robot, external axes movement and belonging process after the movement has been stopped

• by the instruction StopMove. • after execution of StorePath ... RestoPath sequence. • after asynchronously raised movements errors, such as ERR_PATH_STOP or specific process error after handling in the ERROR handler.

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BAD_STATE AUBO_BUSY -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Lua function prototype

startMove() -> number

Lua example

num = startMove()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.startMove","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

stopJoint()

int arcs::common_interface::MotionControl::stopJoint

(

double

acc

)

Stop motion in joint space

Parameters

acc	Joint acceleration, unit: rad/s^2

Returns

Returns 0 on success; otherwise returns an error code AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

stopJoint(self: pyaubo_sdk.MotionControl, arg0: float) -> int

Lua function prototype

stopJoint(acc: number) -> nil

Lua example

stopJoint(2)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.stopJoint","params":[31],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

stopLine()

int arcs::common_interface::MotionControl::stopLine	(	double	acc,
		double	acc_rot
	)

Stop motions in Cartesian space such as moveLine/moveCircle.

Parameters

acc	Tool acceleration, unit: m/s^2
acc_rot

Returns

Returns 0 on success; otherwise returns an error code AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

stopLine(self: pyaubo_sdk.MotionControl, arg0: float, arg1: float) -> int

Lua function prototype

stopLine(acc: number, acc_rot: number) -> nil

Lua example

stopLine(10,10)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.stopLine","params":[10,10],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

stopMove()

int arcs::common_interface::MotionControl::stopMove	(	bool	quick,
		bool	all_tasks
	)

StopMove is used to stop robot and external axes movements and any belonging process temporarily.

If the instruction StartMove is given then the movement and process resumes.

This instruction can, for example, be used in a trap routine to stop the robot temporarily when an interrupt occurs.

Parameters

quick

true: Stops the robot on the path as fast as possible. Without the optional parameter \Quick, the robot stops on the path, but the braking distance is longer (same as for normal Program Stop).

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BAD_STATE AUBO_BUSY -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Lua function prototype

StopMove(quick: bool,all_tasks: bool) -> number

Lua example

num = StopMove(true,true)

storePath()

int arcs::common_interface::MotionControl::storePath

(

bool

keep_sync

)

storePath

Parameters

keep_sync

Returns

Returns 0 on success; otherwise returns an error code: AUBO_BAD_STATE AUBO_BUSY -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Lua function prototype

storePath(keep_sync: bool) -> number

Lua example

num = storePath()

trackCartesian()

int arcs::common_interface::MotionControl::trackCartesian	(	const std::vector< double > &	pose,
		double	t,
		double	smooth_scale,
		double	delay_sacle
	)

Tracking motion, used for executing offline trajectories or passing through user-planned trajectories, etc.

The difference from trackJoint is that it receives Cartesian poses instead of joint angles (inverse kinematics is performed internally by the software).

Parameters

pose
t
smooth_scale
delay_sacle

Returns

Lua function prototype

trackCartesian(pose: table,t: number,smooth_scale: number,delay_sacle: number) -> nil

Lua example

trackCartesian({0.58712,-0.15775,0.48703,2.76,0.344,1.432},0.01,0.5,1)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.trackCartesian","params":[[0.58712,-0.15775,0.48703,2.76,0.344,1.432],0.01,0.5,1],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

trackJoint()

int arcs::common_interface::MotionControl::trackJoint	(	const std::vector< double > &	q,
		double	t,
		double	smooth_scale,
		double	delay_sacle
	)

Tracking motion, used for executing offline trajectories or passing through user-planned trajectories, etc.

Parameters

q
smooth_scale
delay_sacle

Returns

Lua function prototype

trackJoint(q: table,t: number,smooth_scale: number,delay_sacle: number) -> nil

Lua example

trackJoint({0,0,0,0,0,0},0.01,0.5,1)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.trackJoint","params":[[0,0,0,0,0,0],0.01,0.5,1],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

weaveEnd()

int arcs::common_interface::MotionControl::weaveEnd

(

)

End weaving

Returns

Returns 0 on success; otherwise returns an error code AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.MotionControl.weaveEnd","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

weaveStart()

int arcs::common_interface::MotionControl::weaveStart

(

const std::string &

params

)

Start weaving: between weaveStart and weaveEnd, moveLine/moveCircle/moveProcess follows params.

Warning

Start RuntimeMachine before calling weaveStart.

Parameters

params

Json string.

Since v0.29

• "type": <string> — Waveform: "SINE" | "SPIRAL" | "TRIANGLE" | "TRAPEZOIDAL" (case-sensitive).
• "step": <number> — Arc-length sampling step, m.
• "amplitude": [<number>,<number>] — Left/right weave amplitude, m.
• "hold_distance": [<number>,<number>] — Dwell distance at peak amplitude along path, m.
• "hold_time": [<number>,<number>] — Dwell time at peak amplitude, s.
• "angle": <number> — Angle to normal plane, rad.
• "direction": <integer> — Initial direction: 0=above path, 1=below path.
• "movep_uniform_vel": <bool> — Uniform-velocity planning (boolean value).

Since v0.31

• Same as v0.29.

New/changed in v0.32

• "frequency": <number> — Weave frequency, Hz (range [0.1, 5]).
• "ori_weave_range": [<number>,<number>,<number>] — Attitude weave range [x,y,z], rad; often used with Archimedean spiral for force-guided hole finding.
• "ori_weave_frequency": [<number>,<number>,<number>] — Attitude weave frequency [x,y,z], m^-1 (per unit arc; range [0, 1]).
• "adjust_cycle_num": <integer> — Number of transition cycles.
• "azimuth": <number> — Waveform azimuth, rad.
• "ridge_height": <number> — Center raise height, m.

Warning

hold_time is supported for SINE only and may be asymmetric.

You may relate frequency = vel / step when an external path speed vel (m·s^-1) is available.

Note

• Two-element arrays are [left,right]; three-element arrays are attitude [x,y,z].
• All angles are in radians (rad).

Returns

Returns 0 on success; otherwise returns an error code:

• AUBO_BUSY
• AUBO_BAD_STATE
• -AUBO_INVL_ARGUMENT
• -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Example v0.29/v0.31

params = {
    "type": "SINE",
    "step": 0.005,
    "amplitude": [0.01, 0.01],
    "hold_distance": [0.001, 0.001],
    "hold_time": [0, 0],
    "angle": 0,
    "direction": 0,
    "movep_uniform_vel": false
}

Example v0.32

params = {
    "type" : "SINE",  // "SINE" "SPIRAL" "TRIANGLE" "TRAPEZOIDAL"
    "step" : 0.0,     // frequency = vel / step (vel: m·s^-1)
    "frequency" : 0.0, // [0.1, 5] Hz
    "amplitude" : [0.01, 0.01],               // m
    "hold_distance" : [0.001, 0.001],         // m
    "hold_time" : [0, 0],                     // s (SINE only)
    "angle" : 0,                               // rad
    "direction" : 0,
    "ori_weave_range" : [0.001, 0.001, 0.001],          // rad
    "ori_weave_frequency": [0.001, 0.001, 0.001],       // m^-1
    "adjust_cycle_num": 0,
    "azimuth" : 0,                             // rad
    "ridge_height" : 0                         // m
}

Python function prototype

weaveStart(self: pyaubo_sdk.MotionControl, arg0: str) -> int

Python example

robot_name = rpc_cli.getRobotNames()[0]
robot_interface = rpc_cli.getRobotInterface(robot_name)
robot_interface.getMotionControl().weaveStart(params)

Lua function prototype

weaveStart(params: string) -> nil

Lua example (v0.29/0.31)

weaveStart("{\"type\":\"SINE\",\"step\":0.005,\"amplitude\":[0.01,0.01],\"hold_distance\":[0.001,0.001],\"hold_time\":[0,0],\"angle\":0,\"direction\":0,\"movep_uniform_vel\":false}")

Lua example (v0.32)

weaveStart("{\"type\":\"SINE\",\"step\":0.0,\"frequency\":2.0,\"amplitude\":[0.01,0.01],\"hold_distance\":[0.001,0.001],\"hold_time\":[0,0],\"angle\":0,\"direction\":0,\"ori_weave_range\":[0.001,0.001,0.001],\"ori_weave_frequency\":[0.001,0.001,0.001],\"adjust_cycle_num\":0,\"azimuth\":0,\"ridge_height\":0}")

JSON-RPC request example (v0.29/0.31)

{"jsonrpc":"2.0","method":"rob1.MotionControl.weaveStart","params":["{\"type\":\"SINE\",\"step\":0.005,\"amplitude\":[0.01,0.01],\"hold_distance\":[0.001,0.001],\"hold_time\":[0,0],\"angle\":0,\"direction\":0,\"movep_uniform_vel\":false}"],"id":1}

JSON-RPC request example (v0.32)

{"jsonrpc":"2.0","method":"rob1.MotionControl.weaveStart","params":["{\"type\":\"SINE\",\"step\":0.0,\"frequency\":2.0,\"amplitude\":[0.01,0.01],\"hold_distance\":[0.001,0.001],\"hold_time\":[0,0],\"angle\":0,\"direction\":0,\"ori_weave_range\":[0.001,0.001,0.001],\"ori_weave_frequency\":[0.001,0.001,0.001],\"adjust_cycle_num\":0,\"azimuth\":0,\"ridge_height\":0}"],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

weaveUpdateParameters()

int arcs::common_interface::MotionControl::weaveUpdateParameters

(

const std::string &

params

)

Update frequency and amplitude during weaving process

Parameters

params

Json string used to define weaving parameters { "frequency": <num>, "amplitude": {<num>,<num>} }

Returns

Returns 0 on success

Exceptions

arcs::common_interface::AuboException

Member Data Documentation

d_

void* arcs::common_interface::MotionControl::d_

protected

Definition at line 6208 of file motion_control.h.

---

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

• include/aubo/robot/motion_control.h