The angular acceleration of the TCP for linear moves.
The target angular speed of the TCP for linear moves.
Notifies when the component is detached from the entity.
Whether the component has been initialized.
The IO signals provided by the robot controller.
The joint acceleration/deceleration multiple for joint moves.
The target joint speed multiple for joint moves.
The robot controller can command a maximum joint speed of the motor's target speed scaled by this multiple. For example, a multiple of 2.0 allows the joints to move up to twice as fast as the target speed set on the motors that are bound to the joints. This is used only when performing joint moves.
The linear acceleration of the TCP for linear moves.
The target linear speed of the TCP for linear moves.
The frame of the current TCP in the local-space of the robot.
The component name.
The exportable robot programs.
The virtual world to which the owning entity belongs.
The frame of the current TCP in world-space.
Protected OptionaladdedAdded function called immediately after the component is attached to an entity.
Clear any errors, allowing the robot controller to continue execution.
Creates a new robot program and assigns it to the robot controller.
The created program.
Finds a robot program with a given name.
The name of the program.
The found robot program.
Creates a handle (weak reference) to a trackable object.
The type of object that is to be referenced.
The object that is initially referenced by the handle.
A handle to a trackable object.
Protected OptionalinitializeAsynchronous initialization function called immediately before simulating when the model is initialized.
Calculates the inverse kinematics to find the active joint parameters that achieve the specified target frame.
The target frame, in the local-space of the robot.
The active joint parameters that achieve the target.
Commands the robot controller to perform a joint move to intercept the specified moving entity.
The future, which resolves when the move has completed.
Commands the robot controller to perform a linear move to intercept the specified moving entity.
The future, which resolves when the move has completed.
Commands the robot controller to perform a path move.
The path along which the robot should move.
The future, which resolves when the move has completed.
Commands the robot controller to perform a servo move.
The servo index.
The target position.
The future, which resolves when the move has completed.
Commands the robot controller to perform a servos move.
The target positions.
The future, which resolves when the move has completed.
Retrieves the current active joint parameters/angles.
The current active joint parameters/angles.
OptionalpostPost-update function called after physics has been updated.
The timestep (seconds).
Protected OptionalpostAsynchronous post-update function called after physics has been updated.
The timestep (seconds).
ProtectedremovedRemoved function called immediately after the component is detached from an entity.
Immediately triggers asynchronous initialization if the component hasn't already been initialized.
Subscribes to a subscribable object.
Subscriptions created through this function are automatically unsubscribed when the component is detached/removed.
The subscribable object for which to subscribe.
The callback function that is triggered when the object's value is updated.
The time it will take to perform a joint move.
The target frame, in the local-space of the robot.
The time to complete the joint move.
The time it will take to perform a linear move.
The target frame, in the local-space of the robot.
The time to complete the linear move.
Unsubscribes from a subscribable object.
The object from which to unsubscribe.
The callback function for the subscription.
True if the subscription was canceled, false otherwise.
Protected OptionalupdateAsynchronous update function called every timestep when simulating.
The timestep (seconds).
Robot controller.
Remarks
Used to easily control any industrial robot, including: gantry/cartesian, SCARA, delta and articulated robots. The inverse kinematics for the robot are solved automatically. The robot can be programmed using simple exportable programs through the inspector. Advanced scripted programs can be created using custom components by extending RobotProgramComponent.