SafetyController¶

class urdfpy.SafetyController(k_velocity, k_position=None, soft_lower_limit=None, soft_upper_limit=None)[source]¶

A controller for joint movement safety.

Parameters:

k_velocity (float) – An attribute specifying the relation between the effort and velocity limits.
k_position (float, optional) – An attribute specifying the relation between the position and velocity limits. Defaults to 0.0.
soft_lower_limit (float, optional) – The lower joint boundary where the safety controller kicks in. Defaults to 0.0.
soft_upper_limit (float, optional) – The upper joint boundary where the safety controller kicks in. Defaults to 0.0.

Attributes Summary

`k_position`	A relation between the position and velocity limits.
`k_velocity`	A relation between the effort and velocity limits.
`soft_lower_limit`	The soft lower limit where the safety controller kicks in.
`soft_upper_limit`	The soft upper limit where the safety controller kicks in.

Attributes Documentation

k_position¶

A relation between the position and velocity limits.

Type:	float

k_velocity¶

A relation between the effort and velocity limits.

Type:	float

soft_lower_limit¶

The soft lower limit where the safety controller kicks in.

Type:	float

soft_upper_limit¶

The soft upper limit where the safety controller kicks in.

Type:	float