integration:rtde
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende ÜberarbeitungLetzte ÜberarbeitungBeide Seiten der Revision | ||
integration:rtde [2020/12/09 09:28] – [Available units and channels] oliver | integration:rtde [2023/07/18 22:27] – [Available units and channels] oliver | ||
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Zeile 2: | Zeile 2: | ||
[[https:// | [[https:// | ||
- | It is based on [[https:// | + | It is based on [[https:// |
- | The value of the attribute " | + | The value of the attribute " |
**Example configuration fragment:** | **Example configuration fragment:** | ||
Zeile 13: | Zeile 13: | ||
< | < | ||
- | < | + | < |
< | < | ||
< | < | ||
< | < | ||
- | <Channel name="q0"/> | + | <Channel name="URAngle0"/> |
- | <Channel name="q1"/> | + | <Channel name="URAngle1"/> |
- | <Channel name="q2"/> | + | <Channel name="URAngle2"/> |
- | <Channel name="q3"/> | + | <Channel name="URAngle3"/> |
- | <Channel name="v0"/> | + | <Channel name="URAngle4"/> |
- | <Channel name="v1"/> | + | <Channel name="URAngle5"/> |
- | <Channel name="v2"/> | + | <Channel name="URAngularVelocity0"/> |
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
</ | </ | ||
| | ||
Zeile 40: | Zeile 49: | ||
====Available units and channels ==== | ====Available units and channels ==== | ||
- | ^ Unit name^ Description ^ Channel name ^ Unit ^ Type ^ | + | ^ Unit name^ UR Tag ^Description ^ Channel name ^ Channel type ^ Unit ^ Type ^ |
- | ^ actual | Actual joint angles for 6 segments | + | ^ actual |
- | ^ target | + | ^ actual |
- | ^ actual | Temperatures in 6 joints | + | ^ actual | actual_current | Actual joint currents for 6 joints. | URCurrent< |
- | ^ actual | Actual | + | ^ actual |
- | ^ target | Target TCP position | + | ^ actual |
- | ^ actual | Actual | + | ^ actual |
- | ^ target | + | ^ actual | timesamp | Time elapsed since the controller was started. |
- | ^ actual | Timestamp | + | |
+ | ^ target | target_q | Target joint positions/ | ||
+ | ^ target | target_qd | Target joint velocities/ | ||
+ | ^ target | target_qdd | Target joint accelerations/ | ||
+ | ^ target | target_current | Target joint currents for 6 joints. | Current< | ||
+ | ^ target | target_moment | Target joint moments for 6 joints. | Moment< | ||
+ | ^ target | target_TCP_pose | Target Cartesian coordinates of the tool | (x, | ||
+ | |||
+ | =====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: 2023/07/18 22:30 von oliver