https://github.com/danielstankw/ur5e-robot-control

Python Code for control of UR5e robot in 125[Hz]. Includes trajectory planner, controller and more.
https://github.com/danielstankw/ur5e-robot-control

control robotics rtde ur5-robot

Last synced: 19 days ago
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Python Code for control of UR5e robot in 125[Hz]. Includes trajectory planner, controller and more.

• Host: GitHub
• URL: https://github.com/danielstankw/ur5e-robot-control
• Owner: danielstankw
• Created: 2023-01-10T14:58:49.000Z (about 2 years ago)
• Default Branch: master
• Last Pushed: 2023-08-15T15:50:16.000Z (over 1 year ago)
• Last Synced: 2024-11-08T20:48:40.940Z (2 months ago)
• Topics: control, robotics, rtde, ur5-robot
• Language: Python
• Homepage:
• Size: 8.6 MB
• Stars: 9
• Watchers: 1
• Forks: 3
• Open Issues: 0
• Metadata Files:
  • Readme: readme.md

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README

        
# Python code used for communication with the UR5e robot.

The communication is done 125[Hz]. The repo is based of the RopeRobotics code: (https://github.com/martinbjerge/ur-interface)

### What can it be used for?

* Defines minimum jerk planner and designs minimum-jerk trajectory

* Implements PD and Impedance Controller for Peg-In-Hole tasks

* Includes 3 different modes of operation:

  * `run_robot.py`: allows for usage of impedance or PD control for insertion task

  * `run_robot_with_spiral.py`: allows for usage of spiral search or circular motion of the peg while in contact.

  * `run_robot_spiral_ml.py`: integrates trained model in Tensrflow for overlap detection -> incomplete

### Files explanation

1. `main.py`: main run file allowing for control of the robot. It defines 3 modes, described earlier as well as determined what type of controller will be used and what type of position error will be used.

2. `controller.py`: included impedance controller implementation and parameters

3. `helper_functions.py`: include files for data labeling, spiral search and circular motion variables.

4. `angle_transformation.py`: included various transformations used in robotic tasks.

#### Folders

1. `URBasic/urScript.py`: included various functions for robot communication. 

The functions need to follow UR format that can be found here: https://www.universal-robots.com/download/manuals-e-series/script/script-manual-e-series-sw-511/

2. `URBasic/urScriptExt.py`: included functions similarly to urScript.py however they are more advanced. This included `force_mode` and `servoj` which are

non-blocking functions allowing for real-time communication with the robot.

3. `Onrobot/Exconnector.py`: file used for utilizing OnRobot F/T sensor and reading the measurements.