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https://github.com/danielstankw/servoj_rtde_ur5
Implementation of servoj() using RTDE in python for YouTube video purpouses
https://github.com/danielstankw/servoj_rtde_ur5
Last synced: about 1 month ago
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Implementation of servoj() using RTDE in python for YouTube video purpouses
- Host: GitHub
- URL: https://github.com/danielstankw/servoj_rtde_ur5
- Owner: danielstankw
- Created: 2021-08-05T13:50:30.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2021-08-23T09:32:34.000Z (over 3 years ago)
- Last Synced: 2023-07-30T17:42:17.806Z (over 1 year ago)
- Language: Python
- Homepage:
- Size: 30.3 KB
- Stars: 16
- Watchers: 2
- Forks: 5
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
## Servoj_RTDE_UR5
Implementation of servoj() using RTDE in python
#### --- What are the files in this repository? ---
`control_loop_configuration.xml`: contains list of the registers we want to read and overwrite
`min_jerk_translation.py`: class containing min_jerk trajecotry for position only in cartesian space, as well as small example usage function
https://mika-s.github.io/python/control-theory/trajectory-generation/2017/12/06/trajectory-generation-with-a-minimum-jerk-trajectory.html
`min_jerk_servoj.py`: main script responsible for communication with the robot. It communicates with packages stored in **rtde** folder so make sure you download all the required files.
__polyscope__: contains urp file that can be uploaded to the robot
__rtde__: contains all the files needed for RTDE communication taken from:
https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/
#### --- How to run the program? ---
After downloading the rtde folder as well as all the python packages in this repositiory upload the urp. file to the robot.
1) Run the urp file on the robot till a "Continue" button appears
2) Run the python script
3) Click "Continue" on the polyscope
#### Extras:
Below you can find the simplified description of our task as explained in the youtube video:
