Learn KUKA-SUNRISE-EXTENSIONS with Real Code Examples

import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import com.kuka.roboticsAPI.deviceModel.LBR;

public class MoveToPosition extends RoboticsAPIApplication {
    private LBR robot;

    @Override
    public void initialize() {
        robot = (LBR) getContext().getDeviceFromType(LBR.class);
    }

    @Override
    public void run() {
        robot.move(ptp(0, 0, 0, -90, 0, 90, 0));
    }
}

A Sunrise Application moving the robot to a predefined position using a PTP motion command.

SmartServo motion = new SmartServo(robot.getCurrentJointPosition());
motion.setJointVelocityRel(0.2);
robot.moveAsync(motion);

for(int i=0; i<100; i++) {
    motion.setJointPosition(newJointPosArray[i]);
    Thread.sleep(10);
}

Streaming real-time joint updates to the robot using the proprietary SmartServo API.