integration:rtde
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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>, 0 ⇐ index < 6 | rad | REAL |
target | Target joint angles for 6 segments of an UR-robot. | URAngle<index>, 0 ⇐ index < 6 | rad | REAL |
actual | Temperatures in 6 joints of an UR-robot. | URt<index>, 0 ⇐ index < 6 | °C | REAL |
actual | Actual TCP position | v<index>, 0<index<2 | mm | REAL |
target | Target TCP position | v<index>, 0<index<2 | mm | REAL |
actual | Actual TCP orientation | q<index>, 0⇐index<4 | - | REAL |
target | Target TCP orientation | q<index>, 0⇐index<4 | - | REAL |
actual | Timestamp | T | ms | REAL |
integration/rtde.1607502276.txt.gz · Zuletzt geändert: 2020/12/09 09:24 von oliver