Unterschiede

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--- integration:rps [2021/09/09 13:23] – oliver
+++ integration:rps [2021/09/10 09:26] (aktuell) – [Target Channels] oliver
@@ Zeile 3: / Zeile 3: @@
 The RPS-integration is based on the Artiminds WebSocket API. The timestamps delivered by the RPS are used. At the starting time of the measurement the timestamp is saved as an offset and subtracted from the timestamps of further frames.
-== Target Channels ==
+=== Target Channels ===
 ^ name ^ Type ^ Unit ^ Description ^
-^ URAngle0 | ANGLE | rad | Joint angle |
+^ URAngle<0-5> | ANGLE | rad | Measured joint angle by the encoders. These can differ from target angles, if the robot is controlled by angles. The angels does not include offset by Denavit-Hartenberg systems calibration. **Because the angles are actual angles these channels should be moved to the actual-channels-element. TODO** |
-^ v<0-2> | POSITION | m | The position of the TCP in cartesian world coordinates. In case the template has a PointRobot input parameter (a relative transform from the default tool center point to a custom TCP specific to this template), this equals the position of the PointRobot frame in world coordinates. If the template doesn't have a PointRobot input parameter, the "global TCP" aka the TCP configured in the robot configurator of the RPS is used. Summary: This is the position of the resulting TCP in world coordinates after all relevant transformations have been applied to the TCP. You will want to use this one 90% of the time. |
+^ v<0-2> | POSITION | m | The position of the TCP in cartesian world coordinates. In case the template has a PointRobot input parameter (a relative transform from the default tool center point to a custom TCP specific to this template), this equals the position of the PointRobot frame in world coordinates. If the template doesn't have a PointRobot input parameter, the "global TCP" aka the TCP configured in the robot configurator of the RPS is used. **Summary:** This is the position of the resulting TCP in world coordinates after all relevant transformations have been applied to the TCP. You will want to use this one 90% of the time. Read from "program_TCP" of the RPSWebsocket.|
+^ q<0-3> | ROTATION_QUATERNION | | Read from "program_TCP" of the RPSWebsocket. |
+^ T | TIMESTAMP | ms | |
+=== Actual Channels ===
+^ name ^ Type ^ Unit ^ Description ^
+^ URt<0-5> | TEMPERATURE | °C | Temperature in the joints |
+^ T | TIMESTAMP | ms | |
+=== Example ===
 <code xml>