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 [2021/02/08 15:35] – [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 of an UR-robot. | URt< | + | ^ actual |
- | ^ actual | Actual TCP position | + | ^ actual | actual_TCP_pose | Actual Cartesian coordinates of the tool: (x,y,z) | v< |
- | ^ target | Target | + | ^ actual | actual_TCP_pose | Actual orientation of the tool: (rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation | r< |
- | ^ actual | + | ^ actual | joint_temperatures |
- | ^ target | Target | + | ^ actual | timesamp |
- | ^ actual | + | |
+ | ^ target | target_q | Target joint positions/ | ||
+ | ^ target | ||
+ | ^ target | ||
+ | ^ target | ||
+ | ^ target | target_moment | Target joint moments for 6 joints. | Moment< | ||
+ | ^ target | ||
=====RPS measurement system integration===== | =====RPS measurement system integration===== |
integration/rtde.txt · Zuletzt geändert: 2023/07/18 22:30 von oliver