integration:rtde
Inhaltsverzeichnis
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 JRTDE2, 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 „RTDE2“.
Example configuration fragment:
<?xml version="1.0" encoding="UTF-8"?> <MeasurementProcess name="Test RTDE measurement system integration"> <MeasurementSystem id="default" system="RTDE2" fileSuffix="rtde"> <Property name="sampleRate" value="120.0"/> <Property name="dnsidentifiablename" value="192.168.12.1"/> <TransducerUnit name="actual" displayName="Actual"> <Channel name="URAngle0"/> <Channel name="URAngle1"/> <Channel name="URAngle2"/> <Channel name="URAngle3"/> <Channel name="URAngle4"/> <Channel name="URAngle5"/> <Channel name="URAngularVelocity0"/> <Channel name="URAngularVelocity1"/> <Channel name="URAngularVelocity2"/> <Channel name="URAngularVelocity3"/> <Channel name="URAngularVelocity4"/> <Channel name="URAngularVelocity5"/> <Channel name="rx"/> <Channel name="ry"/> <Channel name="ry"/> </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 | UR Tag | Description | Channel name | Channel type | Unit | Type |
---|---|---|---|---|---|---|
actual | actual_q | Actual joint positions/angles for 6 segments. | URAngle<index>, -1 < index < 6 | ANGLE | rad | REAL[6] |
actual | actual_qd | Actual joint velocities/anglevelocities for 6 joints. | URAngularVelocity<index>, -1 < index < 6 | VELOCITY | rad/s | REAL[6] |
actual | actual_current | Actual joint currents for 6 joints. | URCurrent<index>, -1 < index < 6 | CURRENT | A | REAL[6] |
actual | actual_TCP_pose | Actual Cartesian coordinates of the tool: (x,y,z) | v<index>, -1 < index < 3 | POSITION | mm | COLUMN_VECTOR_3D |
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<index>, -1 < index < 4 | ROTATION_VECTOR | rad | COLUMN_VECTOR_3D |
actual | joint_temperatures | Temperatures in 6 joints of an UR-robot. | URt<index>, -1 < index < 6 | TEMPERATURE | °C | REAL[6] |
actual | timesamp | Time elapsed since the controller was started. | T | TIMESTAMP | s | REAL |
target | target_q | Target joint positions/angles for 6 joints. | Angle<index>, -1 < index < 6 | rad | REAL[6] |
---|---|---|---|---|---|
target | target_qd | Target joint velocities/angularvelocities for 6 joints. | AngularVelocity<index>, -1 < index < 6 | rad/s | REAL[6] |
target | target_qdd | Target joint accelerations/angularaccelerations for 6 joints. | AngularAcceleration<index>, -1 < index < 6 | rad/square(s) | REAL[6] |
target | target_current | Target joint currents for 6 joints. | Current<index>, -1 < index < 6 | A | REAL[6] |
target | target_moment | Target joint moments for 6 joints. | Moment<index>, -1 < index < 6 | Nm | REAL[6] |
target | target_TCP_pose | Target Cartesian coordinates of the tool | (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation | mm | REAL[6] |
RTDE measurement system integration
rtde_socket_ip | IP adress to connect to the rps web socket. | No |
---|---|---|
rtde_socket_port | Port number to connect to the rps web socket. | No |
integration/rtde.txt · Zuletzt geändert: 2023/07/18 22:30 von oliver