Kinova API Documentation

That describes a control module of the robotical arm's firmware.

Enumerator:
CONTROL_MODULE_NONE 

No control module selected. The robotical arm cannot moves.

CONTROL_MODULE_ANGULAR_VELOCITY 

Angular velocity control mode. Values sent to the actuators are velocity. Unit: degree / second.

CONTROL_MODULE_ANGULAR_POSITION 

Angular position control mode. Values sent to the actuators are position. Unit: degree.

CONTROL_MODULE_CARTESIAN_VELOCITY 

Cartesian velocity control mode. values sent to the end effector are velocity. translation Unit: meter / second, orientation unit: RAD / second.

CONTROL_MODULE_CARTESIAN_POSITION 

Cartesian position control mode. values sent to the actuators are velocity. translation Unit: meter, orientation unit: RAD.

CONTROL_MODULE_RETRACT 

Retract control mode. This manage movement between the READY(HOME) and the RETRACTED position. This can be angular or cartesian position control.

CONTROL_MODULE_TRAJECTORY 

Not used for now.

CONTROL_MODULE_PREDEFINED 

This manages the pre programmed position(GOTO). This is position control.

CONTROL_MODULE_TIMEDELAY 

This manages the time delay during a trajectory.

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