Robot Module

Robot Module More...

Collaboration diagram for Robot Module:

Topics
	Force Control Module
	Abstract class for force control interface
	IO Input/Output Control
	The IoControl class provides a series of interfaces for configuring and reading the robot's standard digital and analog IO, as well as setting output states.
	Motion Planning and Control
	MotionControl
	Robot Algorithm Tool
	Interfaces related to robot algorithms
	Robot Configuration Management
	RobotConfig
	Robot Lifecycle Management
	RobotManage
	Robot State Query
	RobotState

Functions
RobotConfigPtr	arcs::common_interface::RobotInterface::getRobotConfig ()
	Robot Configuration Management Get RobotConfig interface
MotionControlPtr	arcs::common_interface::RobotInterface::getMotionControl ()
	Motion Planning and Control Get motion planning interface
ForceControlPtr	arcs::common_interface::RobotInterface::getForceControl ()
	Force Control Module Get force control interface
IoControlPtr	arcs::common_interface::RobotInterface::getIoControl ()
	IO Input/Output Control Get IO control interface
SyncMovePtr	arcs::common_interface::RobotInterface::getSyncMove ()
	Synchronized Movement Control and Axis Group Management Get synchronized motion interface
RobotAlgorithmPtr	arcs::common_interface::RobotInterface::getRobotAlgorithm ()
	Robot Algorithm Tool Get robot utility algorithm interface
RobotManagePtr	arcs::common_interface::RobotInterface::getRobotManage ()
	Robot Lifecycle Management Get robot management interface (power on, start, stop, etc.)
RobotStatePtr	arcs::common_interface::RobotInterface::getRobotState ()
	Robot State Query Get robot state interface
TracePtr	arcs::common_interface::RobotInterface::getTrace ()
	Log and Pop-up Get alarm information interface

Detailed Description

Robot Module

Function Documentation

getForceControl()

ForceControlPtr arcs::common_interface::RobotInterface::getForceControl

(

)

Force Control Module Get force control interface

Returns

Pointer to ForceControl object

Python function prototype

getForceControl(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::ForceControl

C++ example

auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
ForceControlPtr ptr =
rpc_cli->getRobotInterface(robot_name)->getForceControl();

getIoControl()

IoControlPtr arcs::common_interface::RobotInterface::getIoControl

(

)

IO Input/Output Control Get IO control interface

Returns

Pointer to IoControl object

Python function prototype

getIoControl(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::IoControl

C++ example

auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
IoControlPtr ptr =
rpc_cli->getRobotInterface(robot_name)->getIoControl();

getMotionControl()

MotionControlPtr arcs::common_interface::RobotInterface::getMotionControl

(

)

Motion Planning and Control Get motion planning interface

Returns

Pointer to MotionControl object

Python function prototype

getMotionControl(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::MotionControl

C++ example

auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
MotionControlPtr ptr =
rpc_cli->getRobotInterface(robot_name)->getMotionControl();

getRobotAlgorithm()

RobotAlgorithmPtr arcs::common_interface::RobotInterface::getRobotAlgorithm

(

)

Robot Algorithm Tool Get robot utility algorithm interface

Returns

Pointer to RobotAlgorithm object

Python function prototype

getRobotAlgorithm(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::RobotAlgorithm

C++ example

auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
RobotAlgorithmPtr ptr =
rpc_cli->getRobotInterface(robot_name)->getRobotAlgorithm();

getRobotConfig()

RobotConfigPtr arcs::common_interface::RobotInterface::getRobotConfig

(

)

Robot Configuration Management Get RobotConfig interface

Returns

Pointer to RobotConfig object

Python function prototype

getRobotConfig(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::RobotConfig

C++ example

auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
RobotConfigPtr ptr =
rpc_cli->getRobotInterface(robot_name)->getRobotConfig();

getRobotManage()

RobotManagePtr arcs::common_interface::RobotInterface::getRobotManage

(

)

Robot Lifecycle Management Get robot management interface (power on, start, stop, etc.)

Returns

Pointer to RobotManage object

Python function prototype

getRobotManage(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::RobotManage

C++ example

auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
RobotManagePtr ptr =
rpc_cli->getRobotInterface(robot_name)->getRobotManage();

getRobotState()

RobotStatePtr arcs::common_interface::RobotInterface::getRobotState

(

)

Robot State Query Get robot state interface

Returns

Pointer to RobotState object

Python function prototype

getRobotState(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::RobotState

C++ example

auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
RobotStatePtr ptr =
rpc_cli->getRobotInterface(robot_name)->getRobotState();

getSyncMove()

SyncMovePtr arcs::common_interface::RobotInterface::getSyncMove

(

)

Synchronized Movement Control and Axis Group Management Get synchronized motion interface

Returns

Pointer to SyncMove object

Python function prototype

getSyncMove(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::SyncMove

C++ example

auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
SyncMovePtr ptr = rpc_cli->getRobotInterface(robot_name)->getSyncMove();

getTrace()

TracePtr arcs::common_interface::RobotInterface::getTrace

(

)

Log and Pop-up Get alarm information interface

Returns

Pointer to Trace object

Python function prototype

getTrace(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::Trace

C++ example

auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
TracePtr ptr = rpc_cli->getRobotInterface(robot_name)->getTrace();