Bug fix for 14R820 in Cartesian motion mode.

Move in a line to a hard-coded home Cartesian position was added.

Cartesian motion open loop/iiwa/SimulinkIIWADirectServoCartesian.java

@@ -1,6 +1,7 @@
 package lbrExampleApplications;
 
 
+import static com.kuka.roboticsAPI.motionModel.BasicMotions.lin;
 import static com.kuka.roboticsAPI.motionModel.BasicMotions.ptp;
 
 import java.io.IOException;
@@ -70,6 +71,10 @@
  * 4- To change the timeout value, change the argument for the instruction
  *    soc.setSoTimeout(10000),  the argument is in milliseconds.
  * 
+ * 
+ * Updated on 11th/June/2019
+ * Bug fix (the bug happened only in 14R820)
+ * To fix the bug hard-coding of the Cartesian home position was performed.
  */
 
 
@@ -112,6 +117,12 @@ private void moveToInitialPosition()
     {
         _lbr.move(
         		ptp(0., Math.PI / 180 * 30.,0.,-Math.PI / 180 * 80.,0.,Math.PI / 180 * 70., 0.).setJointVelocityRel(0.15));
+        // Bug fix (the bug happened only in 14R820)
+        // Hard-code the Cartesian home position.
+        Frame daframe= new Frame(575.87,0.05,397.56,Math.PI,0,Math.PI);
+        _lbr.move(
+        		lin(daframe).setJointVelocityRel(0.15));
+
         /* Note: The Validation itself justifies, that in this very time instance, the load parameter setting was
          * sufficient. This does not mean by far, that the parameter setting is valid in the sequel or lifetime of this
          * program */

Cartesian motion open loop/iiwa/SimulinkIIWASmartServoCartesian.java

@@ -1,6 +1,7 @@
 package lbrExampleApplications;
 
 
+import static com.kuka.roboticsAPI.motionModel.BasicMotions.lin;
 import static com.kuka.roboticsAPI.motionModel.BasicMotions.ptp;
 
 import java.io.IOException;
@@ -79,6 +80,10 @@
  * 4- To change the timeout value, change the argument for the instruction
  *    soc.setSoTimeout(10000),  the argument is in milliseconds.
  * 
+ * Updated on 11th/June/2019
+ * Bug fix (the bug happened only in 14R820)
+ * To fix the bug hard-coding of the Cartesian home position was performed.
+ * 
  */
 
 public class SimulinkIIWASmartServoCartesian extends RoboticsAPIApplication
@@ -146,6 +151,11 @@ private void moveToInitialPosition()
     {
         _lbr.move(
         		ptp(0., Math.PI / 180 * 30.,0.,-Math.PI / 180 * 80.,0.,Math.PI / 180 * 70., 0.).setJointVelocityRel(0.15));
+        // Bug fix (the bug happened only in 14R820)
+        // Hard-code the Cartesian home position.
+        Frame daframe= new Frame(575.87,0.05,397.56,Math.PI,0,Math.PI);
+        _lbr.move(
+        		lin(daframe).setJointVelocityRel(0.15));
         /* Note: The Validation itself justifies, that in this very time instance, the load parameter setting was
          * sufficient. This does not mean by far, that the parameter setting is valid in the sequel or lifetime of this
          * program */

Cartesian motion with feedback/iiwa/SimulinkFIIWADirectServoCartesian.java

@@ -1,6 +1,7 @@
 package lbrExampleApplications;
 
 
+import static com.kuka.roboticsAPI.motionModel.BasicMotions.lin;
 import static com.kuka.roboticsAPI.motionModel.BasicMotions.ptp;
 
 import java.io.IOException;
@@ -76,6 +77,10 @@
  *    from the external PC.
  * 4- To change the timeout value, change the argument for the instruction
  *    soc.setSoTimeout(10000),  the argument is in milliseconds.
+ *    
+ * Updated on 11th/June/2019
+ * Bug fix (the bug happened only in 14R820)
+ * To fix the bug hard-coding of the Cartesian home position was performed.
  * 
  */
 
@@ -117,6 +122,11 @@ private void moveToInitialPosition()
     {
         _lbr.move(
         		ptp(0., Math.PI / 180 * 30.,0.,-Math.PI / 180 * 80.,0.,Math.PI / 180 * 70., 0.).setJointVelocityRel(0.15));
+        // Bug fix (the bug happened only in 14R820)
+        // Newly added, hard-coding of the Cartesian home position.
+        Frame daframe= new Frame(575.87,0.05,397.56,Math.PI,0,Math.PI);
+        _lbr.move(
+        		lin(daframe).setJointVelocityRel(0.15));
         /* Note: The Validation itself justifies, that in this very time instance, the load parameter setting was
          * sufficient. This does not mean by far, that the parameter setting is valid in the sequel or lifetime of this
          * program */

Cartesian motion with feedback/iiwa/SimulinkFIIWASmartServoCartesian.java

@@ -1,6 +1,7 @@
 package lbrExampleApplications;
 
 
+import static com.kuka.roboticsAPI.motionModel.BasicMotions.lin;
 import static com.kuka.roboticsAPI.motionModel.BasicMotions.ptp;
 
 import java.io.IOException;
@@ -37,8 +38,6 @@
 import java.net.UnknownHostException;
 import java.nio.ByteBuffer;
 
-import lbrExampleApplications.SimulinkFIIWADirectServoCartesian.UDPPublisher;
-
 /*
  * SimulinkIIWA interface, soft real-time control in Cartesian position mode
  * Copyright: Mohammad SAFEEA, 22nd/May/2018
@@ -88,6 +87,10 @@
  * 4- To change the timeout value, change the argument for the instruction
  *    soc.setSoTimeout(10000),  the argument is in milliseconds.
  * 
+ * Updated on 11th/June/2019
+ * Bug fix (the bug happened only in 14R820)
+ * To fix the bug hard-coding of the Cartesian home position was performed.
+ * 
  */
 
 public class SimulinkFIIWASmartServoCartesian extends RoboticsAPIApplication
@@ -270,6 +273,11 @@ private void moveToInitialPosition()
     {
         _lbr.move(
         		ptp(0., Math.PI / 180 * 30.,0.,-Math.PI / 180 * 80.,0.,Math.PI / 180 * 70., 0.).setJointVelocityRel(0.15));
+        // Bug fix (the bug happened only in 14R820)
+        // Newly added, hard-coding of the Cartesian home position.
+        Frame daframe= new Frame(575.87,0.05,397.56,Math.PI,0,Math.PI);
+        _lbr.move(
+        		lin(daframe).setJointVelocityRel(0.15));
         /* Note: The Validation itself justifies, that in this very time instance, the load parameter setting was
          * sufficient. This does not mean by far, that the parameter setting is valid in the sequel or lifetime of this
          * program */