Class CRSPlusA150

java.lang.Object
  |
  +--DHSystem
        |
        +--CRSPlusA150
Direct Known Subclasses:
ArmController, ArmSimulator

public class CRSPlusA150
extends DHSystem

A class to represent the CRSPlus A150 robot arm system


Constructor Summary
CRSPlusA150()
          Default constructor purpose : initialize the robot arm system includes the gripper
 
Method Summary
protected static double degToRad(double degree)
          purppose : convert angle from degree into radian
 boolean grip(double width)
          purpose : execute the command GRIP of the arm
 void home()
          purpose : home the robot arm
 boolean ma(double waist, double shoulder, double elbow, double wrist, double twist)
          purpose : execute the command MA of the arm
 boolean madeg(double waist, double shoulder, double elbow, double wrist, double twist)
          purpose : execute the command MA of the arm
 boolean mi(double waist, double shoulder, double elbow, double wrist, double twist)
          purpose : execute the command MI of the arm
 boolean mideg(double waist, double shoulder, double elbow, double wrist, double twist)
          purpose : execute the command MI of the arm
 void move(double x0, double y0, double z0)
          to be implemented
protected static double radToDeg(double radian)
          purpose : convert angle from radian into degree
 void ready()
          purpose : set the arm to ready position
 boolean speed(int value)
          purpose : execute the command SPEED of the arm
 
Methods inherited from class DHSystem
changeA, changeAlpha, changeD, changeTheta, getA, getAlpha, getD, getFramePosition, getTheta, getTransformation, reset, setDH
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

CRSPlusA150

public CRSPlusA150()
Default constructor purpose : initialize the robot arm system includes the gripper
Method Detail

degToRad

protected static double degToRad(double degree)
purppose : convert angle from degree into radian
Parameters:
degree - angle in degree
Returns:
angle in radian

radToDeg

protected static double radToDeg(double radian)
purpose : convert angle from radian into degree
Parameters:
radian - angle in radian
Returns:
angle in degree

home

public void home()
purpose : home the robot arm

ready

public void ready()
purpose : set the arm to ready position

ma

public boolean ma(double waist,
                  double shoulder,
                  double elbow,
                  double wrist,
                  double twist)
purpose : execute the command MA of the arm
Parameters:
waist - waist angle in radian
shoulder - shoulder angle in radian
elbow - elbow angle in radian
wrist - wrist's bend angle in radian
twist - wrist's twist angle in radian
Returns:
true (succeed) or false (fail)

madeg

public boolean madeg(double waist,
                     double shoulder,
                     double elbow,
                     double wrist,
                     double twist)
purpose : execute the command MA of the arm
Parameters:
waist - waist angle in degree
shoulder - shoulder angle in degree
elbow - elbow angle in degree
wrist - wrist's bend angle in degree
twist - wrist's twist angle in degree
Returns:
true (succeed) or false (fail)

mi

public boolean mi(double waist,
                  double shoulder,
                  double elbow,
                  double wrist,
                  double twist)
purpose : execute the command MI of the arm
Parameters:
waist - increment of waist angle in radian
shoulder - increment of shoulder angle in radian
elbow - increment of elbow angle in radian
wrist - increment of wrist's bend angle in radian
twist - increment of wrist's twist angle in radian
Returns:
true (succeed) or false (fail)

mideg

public boolean mideg(double waist,
                     double shoulder,
                     double elbow,
                     double wrist,
                     double twist)
purpose : execute the command MI of the arm
Parameters:
waist - increment of waist angle in degree
shoulder - increment of shoulder angle in degree
elbow - increment of elbow angle in degree
wrist - increment of wrist's bend angle in degree
twist - increment of wrist's twist angle in degree
Returns:
true (succeed) or false (fail)

move

public void move(double x0,
                 double y0,
                 double z0)
to be implemented

grip

public boolean grip(double width)
purpose : execute the command GRIP of the arm
Parameters:
width - width between the fingers of the arm in inch
Returns:
true (succeed) or false (fail)

speed

public boolean speed(int value)
purpose : execute the command SPEED of the arm
Parameters:
value - speed of the arm
Returns:
true (succeed) or false (fail)