rozum robotics Pulse Api Reference Manual
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rozum robotics Pulse Api Reference Manual

Collaborative robot
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  • Page 2: Table Of Contents

    ROZUM ROBOTICS API REFERENCE GUIDE TABLE OF CONTENTS 1. GENERAL DATA ........................3 2. DESCRIPTION OF API FUNCTIONS .................. 3 2.1. GET requests ........................3 2.1.1. Get the current robot position ..................3 2.1.2. Get the current motion status ..................4 2.1.3.

  • Page 3: General Data

     to close the gripper 2. DESCRIPTION OF API FUNCTIONS The section details the twelve API functions you can use to control the PULSE robot and its end effector (gripper) and to monitor the robot's motion parameters. 2.1. GET requests 2.1.1.

  • Page 4: Get The Current Motion Status

    ROZUM ROBOTICS API REFERENCE GUIDE Response content type: application/json, text/plain Response body: HTTP status code Response schema/ type 200 OK Position (see Annex 1) 500 Internal Server Error String Response examples:  200 OK "point": { "x": 120.34, "y": -230.345, "z": 320...

  • Page 5: Get The Current Status Of Servo Motors

    ROZUM ROBOTICS API REFERENCE GUIDE  500 Internal Server Error "Robot does not respond" 2.1.3. Get the current status of servo motors Path: GET/status/motors Description: The function returns the current state of the six servo motors in the robot axes. The state is described as a combination of temperature (°С) and current (A) values for each of the six...

  • Page 6: Put Requests

    ROZUM ROBOTICS API REFERENCE GUIDE Response content type: application/json, text/plain Response body: HTTP status code Response schema/ type 200 OK Pose (see Annex 1) 500 Internal Server Error String Response examples:  200 OK "angles": [ 3.14159, 1.57, -1.57, 3.14, ...
  • Page 7 ROZUM ROBOTICS API REFERENCE GUIDE Request parameters: Parameter Description The parameter sets the speed (% max speed) at which the robot will move to the required position. speed Type: number (double) Included as: query The parameter sets the period (in ms) for the robot to execute the command of moving to the required position.

  • Page 8: Set A New Robot Pose

    ROZUM ROBOTICS API REFERENCE GUIDE 400 Bad Request Error during message parsing String 412 Precondition Failed Incorrect input parameters String 500 Internal Server Error Robot error String Response examples:  200 OK "point": { "x": 120.34, "y": -230.345, "z": 320 "rotation": {...

  • Page 9: Ask The Robot To Open The Gripper

    ROZUM ROBOTICS API REFERENCE GUIDE Request parameters: Parameter Description The parameter sets the speed (% max. speed) at which the servos will move to the required angles. speed Type: number (double) Included as: query Request example: "angles": [ 3.14159, 1.57, -1.57,...

  • Page 10: Ask The Robot To Close The Gripper

    ROZUM ROBOTICS API REFERENCE GUIDE Description: The function commands the robot to open the gripper. It has no request body and requires no parameters to specify. Response content type: text/plain Response body: HTTP status code Response schema/ type 200 OK...

  • Page 11: Ask The Robot To Go To The Freeze State

    ROZUM ROBOTICS API REFERENCE GUIDE Response content type: text/plain Response body: HTTP status code Response schema/ type 200 OK 500 Internal Server Error String Response example:  500 Internal Server Error "Robot does not respond" 2.3.6. Ask the robot to go to the freeze state Path: PUT/freeze Description: The function sets the robot into the “freeze”...
  • Page 12 ROZUM ROBOTICS API REFERENCE GUIDE Note: Similarly, you can move the robot from one pose to another through a number of waypoints using the PUT/pose function. In this case, the robot will stop for a short moment at each of the preset waypoints along the trajectory.

  • Page 13: Ask The Robot To Move To A Specified Position

    ROZUM ROBOTICS API REFERENCE GUIDE Response examples:  400 Bad Request "Incorrect format of input Message"  412 Precondition Failed "Unreachable Pose", "Collision detected"  500 Internal Server Error "Robot does not respond" 2.3.8. Ask the robot to move to a specified position...
  • Page 14 ROZUM ROBOTICS API REFERENCE GUIDE Request parameters: Parameter Description The parameter sets the speed (% max speed) at which the robot will move to the required position. speed Type: number (double) Included as: query The parameter sets the period (in ms) for the robot to execute the command.

  • Page 15: Annex 1. Response/ Request Schemas

    ROZUM ROBOTICS API REFERENCE GUIDE Response examples:  400 Bad Request "Incorrect format of input Message"  412 Precondition Failed "Unreachable Position", "Collision detected"  500 Internal Server Error "Robot does not respond" ANNEX 1. RESPONSE/ REQUEST SCHEMAS The Annex contains schemas for structuring the API requests and responses as described in the above sections.

  • Page 16: Pose Schema

    ROZUM ROBOTICS API REFERENCE GUIDE Pose schema Schema Property content Example property "angles": [ "number (double)", "number (double)", "number (double)", Angle Number (double) "number (double)", "number (double)", "number (double)" Page 16 | 16...

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