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integration:rtde

RTDE measurement system integration

RTDE is a realtime communication stack to communicate with robots from Universal Robots, witch have controller hardware equal or newer than CB3 and works best with the e-series.

It is based on JRTDE, a java library wrapper for the RTDE client library. Connections to one or more robot systems are possible.

The value of the attribute „system“ from the element <MeasurementSystem> has to be set to „RTDE“.

Example configuration fragment:

<?xml version="1.0" encoding="UTF-8"?>
 
<MeasurementProcess name="Test RTDE measurement system integration">
 
 <MeasurementSystem id="default" system="RTDE" fileSuffix="rtde">
        <Property name="sampleRate" value="120.0"/>
        <Property name="dnsidentifiablename" value="192.168.12.1"/>
        <TransducerUnit name="actual" displayName="Actual">
                <Channel name="q0"/>
                <Channel name="q1"/>
                <Channel name="q2"/>
                <Channel name="q3"/>
                <Channel name="v0"/>
                <Channel name="v1"/>
                <Channel name="v2"/>
        </TransducerUnit>
 
        ...
 
 </MeasurementSystem>   
 ...
</MeasurementProcess>

The <MeasurementSystem>-element has the following additional properties:

Property name Description Optional
dnsidentifiablename A name possibly resolveable by the DNS No

Available units and channels

Unit name Description Channel name Unit Type
actual Actual joint angles for 6 segments of an UR-robot. URAngle<index>, -1 < index < 6 rad REAL
target Target joint angles for 6 segments of an UR-robot. URAngle<index>, -1 < index < 6 rad REAL
actual Temperatures in 6 joints of an UR-robot. URt<index>, -1 < index < 6 °C REAL
actual Actual TCP position v<index>, -1 < index < 3 mm COLUMN_VECTOR_3D
target Target TCP position v<index>, -1 < index < 3 mm COLUMN_VECTOR_3D
actual Actual TCP orientation q<index>, -1 < index < 4 - QUATERNION_D
target Target TCP orientation q<index>, -1 < index < 4 - QUATERNION_D
actual Timestamp T ms REAL

RPS measurement system integration

rps_websocket_ip IP adress to connect to the rps web socket. No
rps_websocket_port Port number to connect to the rps web socket. No
integration/rtde.txt · Zuletzt geändert: 2021/02/08 15:35 von oliver