Rsewiki - User contributions [en]

Install Universal Robots simulator on lab PC

2015-10-07T12:41:20Z

Ttan: Typos

For the simulator to work, a few packages needs to be installed. Log in as aut and in a terminal write

''sudo apt-get install libxmlrpc-c++8 libxmlrpc-core-c3 libjava3d-java openjdk-7-jre openjdk-7-jre-headless openjdk-7-jre-lib''

After installing the prerequisites, log into your normal user and download the ursim software from [http://www.universal-robots.com/download/?option=16594 http://www.universal-robots.com/download/?option=16594]. Select the desired version of the simulator and download the archive.

Copy the downloaded file to your desired location and extract it with ''tar xvzf [NAME OF FILE]''

You can run the install script from the extracted file, or just start the simulator by executing ''start-ursim.sh''

Install Universal Robots simulator on lab PC

2015-10-07T12:39:46Z

Ttan: Created page

For the simulator to work, a few packages needs to be installed. Log in as aut and in a terminal write

''sudo apt-get install libxmlrpc-c++8 libxmlrpc-core-c3 libjava3d-java openjdk-7-jre openjdk-7-jre-headless openjdk-7-jre-lib''

After installing the prerequisites, log into your normal user and download the ursim software from [http://www.universal-robots.com/download/?option=16594]. Select the desired version of the simulator and download the archive.

Copy the downloaded file to your desired location and extract it with ''tar xvzf [NAME OF FILE]''

You can run the install script from the extracted file, or just start the simulator bu executing ''start-ursim.sh''

Main Page

2015-10-07T12:30:31Z

Ttan: Added page on UR simulator

Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.

These pages will contain updated information on RSE projects and other issued related to robotics research.

= Mobotware =

(Mobile Robot software)

* [[AU Robot Servers]] (AURS) includes servers for soft real-time processing, e.g.: camera and laser scanner processing.

* [[RHD]] (Robot Hardware Daemon) is the hardware abstraction layer, with interface to real-time sensors and actuators.

* MRC - see SMR below - is the real-time movement control (and mission control using the SMR-CL language)

[[Version and download]]

[[Automated test setup]]

= Robots =

[[List of SMRs]] (List of SMRs)

[[SMR]] (Small Mobile Robot)

[[SMR test]] (SMR test procedures)

[[MMR]] (Medium Mobile Robot)

[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)

[[Claas axion]] (Semi-autonomous heavy tractor)

[[hexakopter]] (notes for six-rotor helicopter including the pixhawk autopilot)

[[UR5]] (Universal Robot UR5 Arm)

[[UR10]] (Universal Robot UR10 Arm)

[[Fieldrobot]] (Fieldrobot)

[[iRobot ATRV-Jr]]

[[Labyrinth]] (Labyrinth game)

[[inspection robot]] (4/6-legged robot)

[[regbot]] (small robot intended as control-1 exercise)

[[SimServer]] Stage based multi robot simulator

=== Other equipment ===

[[Mini40 force/torque sensor]]

[[Robotiq gripper]]

= Linux system considerations =

[[Switchtool]] - Shift to Mobotware (development) branch on the robots

[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)

[[Naming networkinterfaces using udev]]

[[Setting permissions for various devices using udev]]

[[Authenticating Linux clients against MS Active Directory]]

====Older pages====

[[Ubuntu 32-bit or 64-bit]]

[[Slackware OpenCV package install]]

[[Slackware packages in robot image]]

= Controllab =

[[Platform list]] (List of computers used for various control set-ups)

[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)

[http://aut.elektro.dtu.dk/staff/sh/rsewiki/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)

= How-to documentation =

====installation====

[[NTP howto]] time-sync 2 computers

Using the [[RSE SVN]] repository

[[Flash disk cloning]] - to repair robot boot disk image

[[Install on (K)UBUNTU]] - for test and development on PC or laptop

[[Install on raspberry]] - install Mobotware on raspbian or a Debian based Linux on Beagle-bone.

[[Install Universal Robots simulator on lab PC]]

[[Remote Development of Mobotware Using Eclipse]]

[[Set hostnames from dhcp-server with dhclient on *buntu systems]]

[[Notes on compiling augclient]] - GUI interface for Mobotware used fx. in AGCO project

====utility pages====

[[Convert a .tex document to openoffice]]

[[Access DTU campus network using VPN from Linux]]

[[disable display manager on boot]] (and thereby the graphic user interface)

How to make a animation from separate images, see [[MMR]]

====older pages====

[[RoboCup]] - bl.a. scoreboard

[[AU software license considerations]]

[[Robot GUI (MARG)]] - (no longer maintained)

[[Install GUI-less UBUNTU]] - new boot disk image for robots

= Demonstrations =

[[PLC controlled traffic light]]

[[Machine shop in 326]]

[[Inverted pendulum]]

UR10

2015-05-18T08:00:39Z

Ttan: /* Performance Analysis */

Two robot arms of the type UR10 are located in 326/011. In this wiki article, some documentation of how to use the robot arm is collected.
__TOC__

==General information==
The two robot arms are known to the computers in 326 as rt6 and rt7 respectively. To connect to the robots, use these ip aliases.
===Starting the robot===
To power on the robot, press the power button located just above the emergency stop butten on the screen box.

Once the robot has booted, a dialogue box appears titled "Robot has Changed Mode". To initialize and calibrate the robot, go to Initialization Screen using this popup. Once there, hit the topmost Auto button once to start the hardware. Then push and hold auto until the robot is done unlocking and autocalibrating. Keep an eye on the robot while doint this, as the robot calibrates by moving it's joints, and this might lead to collisions with itself or it's surroundings. Release and re-press the Auto button to reverse direction for the joints or, if necessary, initialize each joint manually. When done, hit OK.

To move the robot into a desired position, press either of the top two buttons, and select the ''Move''-tap. Then move the robot by using the arrows or by holding down the Teach button and move the robot by hand.

===Denavit-Hartenberg parameters===

The most important DH parameters are listed here for reference:
(Taken from [http://support.universal-robots.com/University/DenavitHartenbergParameters UR homepage])
{| class="wikitable"
|+ Denavit-Hartenberg parameters
|-
! Joint !! Type !! a !! α !! d !! θ !! Offset
|-
| 1 || Revolute || 0.00000 || π/2 || 0.1273 || q1 || 0.00
|-
| 2 || Revolute || -0.612 || 0.00 || 0.00000 || q2 || -π/2
|-
| 3 || Revolute || -0.5723 || 0.00 || 0.00000 || q3 || 0.00
|-
| 4 || Revolute || 0.00000 || π/2 || 0.163941 || q4 || -π/2
|-
| 5 || Revolute || 0.00000 || -π/2 || 0.1157 || q5 || 0.00
|-
| 6 || Revolute || 0.00000 || 0.00 || 0.0922 || q6 || 0.00
|}

==Common errors and workarounds==
===Congestion Control on UR10's datastream===
The UR controller program broadcasts data through a socket which appearantly has congestion control implemented using Nagle's Algorithm. This will result in very un-real-time behaviour in the form of bundled and delayed data packages if not accounted for.
Upon recieving a package from the robot, force a TCP acknowledge from your own socket, either by sending a command, as you would in a feedback system, or use the socket flag TCP_QUICKACK to force an acknowledgement. This needs to be done upon recieving each data package.

==Using the robot via the 'MATLAB-interface'==
Connecting to the robot arm using a simple TCP socket allows for data collection and command issuing. This can be done in any way you please, including Python, C++ and Telnet. Connect to the robot arm's IP on port 30003 for the best results. On this socket, a data stream is issued at 125Hz, containing most robot arm data of interest. A description of this data stream can be found at [http://support.universal-robots.com/Technical/RealTimeClientInterface UR's support site].
A list of commands available to control the robot can be found in [http://ur-update.dk/URsupport/ UR's manuals server] under Manuals/ScriptManuals/Release1.8/.

==Performance Analysis==
A performance analysis of the robot arm's MATLAB-interface has been conducted. The results can be downloaded [http://orbit.dtu.dk/en/publications/ur10-performance-analysis(0deaebd1-1593-4641-a971-e1ac0234ed88).html here]. It is strongly advised that anyone planning to work on the UR10 or UR5 reads this document before doing so.

Main Page

2015-01-13T10:22:40Z

Ttan: Added Other equipment subsection with link for F/T sensor

Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.

These pages will contain updated information on RSE projects and other issued related to robotics research.

= Mobotware =

(Mobile Robot software)

AURS [[AU Robot Servers]] (camera, laser scanner, other servers and plugins)

[[RHD]] Robot Hardware Daemon

MRC - see SMR below

[[Version and download]]

[[Automated test setup]]

= Robots =

[[List of SMRs]] (List of SMRs)

[[SMR]] (Small Mobile Robot)

[[SMR test]] (SMR test procedures)

[[MMR]] (Medium Mobile Robot)

[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)

[[Claas axion]] (Semi-autonomous heavy tractor)

[[hexakopter]] (notes for six-rotor helicopter including the pixhawk autopilot)

[[UR5]] (Universal Robot UR5 Arm)

[[UR10]] (Universal Robot UR10 Arm)

[[Fieldrobot]] (Fieldrobot)

[[iRobot ATRV-Jr]]

[[Labyrinth]] (Labyrinth game)

[[inspection robot]] (6-legged robot)

[[regbot]] (small robot intended as control-1 exercise)

=== Other equipment ===

[[Mini40 force/torque sensor]]

[[Robotiq gripper]]

= Linux system considerations =

[[Switchtool]] - Shift to Mobotware (development) branch on the robots

[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)

[[Naming networkinterfaces using udev]]

[[Setting permissions for various devices using udev]]

[[Ubuntu 32-bit or 64-bit]]

[[Authenticating Linux clients against MS Active Directory]]

====Older pages====

[[Slackware OpenCV package install]]

[[Slackware packages in robot image]]

= Controllab =

[[Platform list]] (List of computers used for various control set-ups)

[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)

[http://aut.elektro.dtu.dk/staff/sh/rsewiki/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)

= How-to documentation =

====installation====

[[NTP howto]] time-sync 2 computers

Using the [[RSE SVN]] repository

[[Flash disk cloning]] - to repair robot boot disk image

[[Install on (K)UBUNTU]] - for test and development on PC or laptop

[[Install GUI-less UBUNTU]] - new boot disk image for robots

[[Install on raspberry]] - install RHD and MRC on raspbian

[[Robot GUI (MARG)]]

[[Remote Development of Mobotware Using Eclipse]]

[[Set hostnames from dhcp-server with dhclient on *buntu systems]]

====utility pages====

[[Convert a .tex document to openoffice]]

[[Access DTU campus network using VPN from Linux]]

[[disable display manager on boot]] (and thereby the graphic user interface)

How to make a animation from separate images, see [[MMR]]

====older pages====

[[Transition to version 2011]] - notes

[[RoboCup]] - bl.a. scoreboard

[[Demo of stereo camera]]

[[AU software license considerations]]

= Demonstrations =

[[PLC controlled traffic light]]

[[Machine shop in 326]]

= Events =

[[Culture night]]

UR10

2015-01-06T08:50:08Z

Ttan: updated link for ur10 performance analysis

Two robot arms of the type UR10 are located in 326/011. In this wiki article, some documentation of how to use the robot arm is collected.
__TOC__

==General information==
The two robot arms are known to the computers in 326 as rt6 and rt7 respectively. To connect to the robots, use these ip aliases.
===Starting the robot===
To power on the robot, press the power button located just above the emergency stop butten on the screen box.

Once the robot has booted, a dialogue box appears titled "Robot has Changed Mode". To initialize and calibrate the robot, go to Initialization Screen using this popup. Once there, hit the topmost Auto button once to start the hardware. Then push and hold auto until the robot is done unlocking and autocalibrating. Keep an eye on the robot while doint this, as the robot calibrates by moving it's joints, and this might lead to collisions with itself or it's surroundings. Release and re-press the Auto button to reverse direction for the joints or, if necessary, initialize each joint manually. When done, hit OK.

To move the robot into a desired position, press either of the top two buttons, and select the ''Move''-tap. Then move the robot by using the arrows or by holding down the Teach button and move the robot by hand.

===Denavit-Hartenberg parameters===

The most important DH parameters are listed here for reference:
(Taken from [http://support.universal-robots.com/University/DenavitHartenbergParameters UR homepage])
{| class="wikitable"
|+ Denavit-Hartenberg parameters
|-
! Joint !! Type !! a !! α !! d !! θ !! Offset
|-
| 1 || Revolute || 0.00000 || π/2 || 0.1273 || q1 || 0.00
|-
| 2 || Revolute || -0.612 || 0.00 || 0.00000 || q2 || -π/2
|-
| 3 || Revolute || -0.5723 || 0.00 || 0.00000 || q3 || 0.00
|-
| 4 || Revolute || 0.00000 || π/2 || 0.163941 || q4 || -π/2
|-
| 5 || Revolute || 0.00000 || -π/2 || 0.1157 || q5 || 0.00
|-
| 6 || Revolute || 0.00000 || 0.00 || 0.0922 || q6 || 0.00
|}

==Common errors and workarounds==
===Congestion Control on UR10's datastream===
The UR controller program broadcasts data through a socket which appearantly has congestion control implemented using Nagle's Algorithm. This will result in very un-real-time behaviour in the form of bundled and delayed data packages if not accounted for.
Upon recieving a package from the robot, force a TCP acknowledge from your own socket, either by sending a command, as you would in a feedback system, or use the socket flag TCP_QUICKACK to force an acknowledgement. This needs to be done upon recieving each data package.

==Using the robot via the 'MATLAB-interface'==
Connecting to the robot arm using a simple TCP socket allows for data collection and command issuing. This can be done in any way you please, including Python, C++ and Telnet. Connect to the robot arm's IP on port 30003 for the best results. On this socket, a data stream is issued at 125Hz, containing most robot arm data of interest. A description of this data stream can be found at [http://support.universal-robots.com/Technical/RealTimeClientInterface UR's support site].
A list of commands available to control the robot can be found in [http://ur-update.dk/URsupport/ UR's manuals server] under Manuals/ScriptManuals/Release1.8/.

==Performance Analysis==
A performance analysis of the robot arm's MATLAB-interface has been conducted. The results can be downloaded [http://aut.elektro.dtu.dk/staff/ttan/ur10-performance-analysis.pdf here]. It is strongly advised that anyone planning to work on the UR10 or UR5 reads this document before doing so.

Main Page

2014-03-25T14:43:48Z

Ttan:

Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.

These pages will contain updated information on RSE projects and other issued related to robotics research.

= Mobotware =

(Mobile Robot software)

AURS [[AU Robot Servers]] (camera, laser scanner, other servers and plugins)

[[RHD]] Robot Hardware Daemon

MRC - see SMR below

[[Version and download]]

[[Automated test setup]]

= Robots =

[[List of SMRs]] (List of SMRs)

[[SMR]] (Small Mobile Robot)

[[MMR]] (Medium Mobile Robot)

[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)

[[Claas axion]] (Semi-autonomous heavy tractor)

[[hexakopter]] (notes for six-rotor helicopter)

[[UR5]] (Universal Robot UR5 Arm)

[[UR10]] (Universal Robot UR10 Arm)

[[Fieldrobot]] (Fieldrobot)

[[iRobot ATRV-Jr]]

[[Labyrinth]] (Labyrinth game)

= Linux system considerations =

[[Switchtool]] - Shift to Mobotware (development) branch on the robots

[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)

[[Naming networkinterfaces using udev]]

[[Setting permissions for various devices using udev]]

[[Ubuntu 32-bit or 64-bit]]

[[Authenticating Linux clients against MS Active Directory]]

====Older pages====

[[Slackware OpenCV package install]]

[[Slackware packages in robot image]]

= Controllab =

[[Platform list]] (List of computers used for various control set-ups)

[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)

[http://aut.elektro.dtu.dk/staff/sh/rsewiki/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)

= How-to documentation =

====installation====

[[NTP howto]] time-sync 2 computers

Using the [[RSE SVN]] repository

[[Flash disk cloning]] - to repair robot boot disk image

[[Install on (K)UBUNTU]] - for test and development on PC or laptop

[[Install GUI-less UBUNTU]] - new boot disk image for robots

[[Install on raspberry]] - install RHD and MRC on raspbian

[[Robot GUI (MARG)]]

[[Remote Development of Mobotware Using Eclipse]]

[[Set hostnames from dhcp-server with dhclient on *buntu systems]]

====utility pages====

[[Convert a .tex document to openoffice]]

[[Access DTU campus network using VPN from Linux]]

[[disable display manager on boot]] (and thereby the graphic user interface)

How to make a animation from separate images, see [[MMR]]

====older pages====

[[Transition to version 2011]] - notes

[[RoboCup]] - bl.a. scoreboard

[[Demo of stereo camera]]

[[AU software license considerations]]

= Demonstrations =

[[PLC controlled traffic light]]

[[Machine shop in 326]]

= Events =

[[Culture night]]

Main Page

2014-03-25T14:43:38Z

Ttan:

Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.

These pages will contain updated information on RSE projects and other issued related to robotics research.

= Mobotware =

(Mobile Robot software)

AURS [[AU Robot Servers]] (camera, laser scanner, other servers and plugins)

[[RHD]] Robot Hardware Daemon

MRC - see SMR below

[[Version and download]]

[[Automated test setup]]

= Robots =

[[List of SMRs]] (List of SMRs)

[[SMR]] (Small Mobile Robot)

[[MMR]] (Medium Mobile Robot)

[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)

[[Claas axion]] (Semi-autonomous heavy tractor)

[[hexakopter]] (notes for six-rotor helicopter)

[[UR5]] (Universal Robot UR5 Arm)
[[UR10]] (Universal Robot UR10 Arm)

[[Fieldrobot]] (Fieldrobot)

[[iRobot ATRV-Jr]]

[[Labyrinth]] (Labyrinth game)

= Linux system considerations =

[[Switchtool]] - Shift to Mobotware (development) branch on the robots

[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)

[[Naming networkinterfaces using udev]]

[[Setting permissions for various devices using udev]]

[[Ubuntu 32-bit or 64-bit]]

[[Authenticating Linux clients against MS Active Directory]]

====Older pages====

[[Slackware OpenCV package install]]

[[Slackware packages in robot image]]

= Controllab =

[[Platform list]] (List of computers used for various control set-ups)

[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)

[http://aut.elektro.dtu.dk/staff/sh/rsewiki/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)

= How-to documentation =

====installation====

[[NTP howto]] time-sync 2 computers

Using the [[RSE SVN]] repository

[[Flash disk cloning]] - to repair robot boot disk image

[[Install on (K)UBUNTU]] - for test and development on PC or laptop

[[Install GUI-less UBUNTU]] - new boot disk image for robots

[[Install on raspberry]] - install RHD and MRC on raspbian

[[Robot GUI (MARG)]]

[[Remote Development of Mobotware Using Eclipse]]

[[Set hostnames from dhcp-server with dhclient on *buntu systems]]

====utility pages====

[[Convert a .tex document to openoffice]]

[[Access DTU campus network using VPN from Linux]]

[[disable display manager on boot]] (and thereby the graphic user interface)

How to make a animation from separate images, see [[MMR]]

====older pages====

[[Transition to version 2011]] - notes

[[RoboCup]] - bl.a. scoreboard

[[Demo of stereo camera]]

[[AU software license considerations]]

= Demonstrations =

[[PLC controlled traffic light]]

[[Machine shop in 326]]

= Events =

[[Culture night]]

UR5

2013-03-08T14:02:05Z

Ttan: /* Using the robot with Python */

The Universal Robot in 326/005 can be controlled in several different ways. The aim of this page is to collect and present the most relevant data regarding the robot arm.
__TOC__

==General information==
For remote access to the robot, i.e. from ROS or via a Python scrict, use the host name <tt>rt29</tt>.
===Starting the robot===
To power on the robot, press the green button on the control box.

After the controller computer has booted, the screen will report that the robot has changed state and needs to be initialized. To do this, press the button in the noticifation box on the screen.
On the new screen, press the top Auto button until the joints reports ''Ready''. Then hold down the Auto button until all joints report ok. Note that this will make the robot joints move, if the robot is about to collide with itself, release the auto button and move the apropriate joint(s) to avoid a collision.
When all joints are 'OK', press the <tt>Ok</tt> button in the lower right corner.

To move the robot into a desired position, press either of the top two buttons, and select the ''Move''-tap. Then move the robot by using the arrows or by holding down the Teach button and move the robot by hand.

===Denavit-Hartenberg parameters===
All values used for inertia and kinematics calculation can be found in the [https://kforge.ros.org/ros_industrial/universal_robot/file/9cf86ac2fc46/ur5_description/urdf/model.urdf.xacro ROS Model] data file.

The most important DH parameters are listed here for reference:
{| class="wikitable"
|+ Denavit-Hartenberg parameters
|-
! Joint !! Type !! a !! α !! d !! θ !! Offset
|-
| 1 || Revolute || 0.00000 || π/2 || 0.089159 || q1 || 0.00
|-
| 2 || Revolute || -0.42500 || 0.00 || 0.00000 || q2 || -π/2
|-
| 3 || Revolute || -0.39225 || 0.00 || 0.00000 || q3 || 0.00
|-
| 4 || Revolute || 0.00000 || π/2 || 0.10915 || q4 || -π/2
|-
| 5 || Revolute || 0.00000 || -π/2 || 0.09465 || q5 || 0.00
|-
| 6 || Revolute || 0.00000 || 0.00 || 0.0823 || q6 || 0.00
|}

===Force/torque sensor===
The UR5 is equipped with a [[Mini40 force/torque sensor]]

===Gripper information===
The parallel gripper can be controlled via a socket connection to rt13 on port 31101.

To launch the server on the computer, you need to be logged in as '''root'''.
The currently most up-to-date server program is ''/shome/ex02/mobotware-3.22b/mrc/trunk/tools/dxl_ros_server''

It supports the following functions:

'''setpos x''': Sets the servo to a specific position

'''setdist x''': Set the distance between the gripper fingers to x mm

'''getpos''': Returns the servo position

'''stop''': Closes the connection between the client and the server. '''Note that if this is not called, the server needs to be restarted before another connection can be made.'''

The distance between the fingers can be calculated from the servo position with the expression ''math.asin((dist+2.28)/120.0) * 180.0/math.pi''. Note that for very small values, this is not correct.

==Using the robot with ROS==
===Setting up ROS===
The following information concerns the Fuerte version of [http://www.ros.org ROS], which should be installed on all the desktop computers in the lab. To get it to work properly, you might have to edit <tt>~/.bashrc</tt> to use the correct version of ROS.
The easiest way to do this is to copy the last 4-5 lines, starting with <tt>if [ -f /opt/ros...</tt> and paste it just below, and then change the version name (i.e. from <tt>electric</tt> to <tt>fuerte</tt>).
====Required packages====
Besides the currently installed version of ROS, the following packages should be installed using <tt>sudo apt-get install ros-fuerte-<package name></tt>
* universal-robot ([http://ros.org/wiki/universal_robot Universal robot drivers]) - Provides drivers and a bringup to test the robot. '''Do not run the driver/test_move.py without changing the joint values. It will make the robot will smash into the wall with the standard values.''' ([[Setup the universal-robot package]])
* arm_navigation ([http://www.ros.org/wiki/arm_navigation Arm navigation documentation]) - For kinematics, planning and simulation. ([[Setup the arm_navigation package]])
* moveit ([http://moveit.ros.org/ New arm navigation stack]) - Will replace the arm_navigation stack in future releases. ([[Setup MoveIt]])
* industrial ([http://www.ros.org/wiki/Industrial Generic industrial robots package]) - Not really used at the moment. Maybe useful in Groove.
To use the Force/torque sensor, the follwing package should be installed as well
* netft ([http://www.ros.org/wiki/netft Force/torque Sensor]) - Interfaces the netft driver to the Mini40 Force/torque sensor using the Net F/T protocol. ([[Setup netFT ]])

====Common errors and workarounds====
=====Network name unavailable=====
The assigned network name is done using a Windows name server. Linux have some difficulties renewing this host name, which might lead to the name server forgetting the network mapping.
To resolve the problem, just restart the computer and boot into Windows. The reboot into Linux.

==Using the robot with MRC==

==Using the robot with Python==
The python program robot_server.py is found in ''/vhome/ttan/ur5''
Copy the file to your own home folder to edit it as necessary.

The program opens a socket on port 31001, and listens for commands.
It accepts the following commands
*'''status''': shows the status of each joint and the pose of the tool or arm. ('''3''' can also be used as shortcout to status)
*'''setmode''': Sets the reference for the pose to either the end of the arm (''setmode arm'') or the gripper tool center point (''setmode tool'').
The rotation mode can be changed by ''setmode rpy'', ''setmode quat'', ''setmode axis'' or ''setmode matrix'' for roll-pitch-yaw, quaternion, axis-angle or rotation matrix mode, respectively.
The program is per default runnig ''setmode tool rpy''
*'''movel ([x, y, z, r, p, y], a, v, t, wp)''': Moves the gripper to the given pose with acceleration '''a''', velocity '''v''' in time '''t''', and signal when waypoint '''wp''' has been reached. The last four values should not be used in normal operation.
*'''speedl ([x, y, z, r, p, y], a, t, wp)''': Makes the arm move with the given velocities with acceleration '''a''' in time '''t''', and signal when waypoint '''wp''' has been reached. '''Always''' remember to give a value for the time, otherwise the robot will keep moving until it hits something or itself.
*'''stopl''': Stops the arm from moving in a speedl movement.
*'''quit''': Closes the connection between the client and the robot_server.py program. The connection between robot_server.py and the arm is maintained.

UR5

2013-02-13T12:35:33Z

Ttan: /* Gripper information */

Mini40 force/torque sensor

2013-02-13T11:16:14Z

Ttan: Fixed software bias - now based on 8 x 8 measurements

This page summerizes information related to the [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 Mini40 force/torque sensor] mounted on the UR5 robot arm

__TOC__

==General Information==
THE F/T sensor measures force and torque in three dimensions. The sensor reading is accessed through the Net F/T box. The hostname is <tt>rt20</tt>

The sensor configuration and information utility can be accessed using a [http://rt20/ internet browser] on a computer on the same network.
From the information page, a Java demo application can be downloaded. To run the application, download the file, go to the containing directory in a terminal and write <tt>java -jar ATINetFT.jar</tt>.

====User Manual====
The [http://www.ati-ia.com/app_content/documents/9610-05-1022.pdf manual for the Net F/T box] can be found on the manufactures homepage.

==Raw Data Transfer (RDT)==
The Net F/T box is configured for sending data using the Raw Data Transer (RDT) interface using a UDP connection.

To start streaming, send the following bytes "1234000200000000" to port 49152. For more information, consult the manual.'''Note that there is an un-documented limitation in the Net F/T firmware where it cannot stream data to a network address that is not on the same subnet. Make sure your computer is on the same subnet as the Net F/T.'''

If you are using a computer that are not on the same subnet, it is still possible to request single samples, by using the un-documented command "12340001XXXXXXXX", where XXXXXXXX instructs how many samples to send. The data rate using this method has been measured to ~333 Hz, but it is unknown whether it always transmit the newest data, or the instruction makes it transmit the next XXXXXXXX measurement, which might causes the streamed data to be out of sync at the time of reception.

==Software Bias==
The strain gauges have a natural offset. This can be biased on the Settings page for the netFT.

For FT11535 the software bias values are
{| class="wikitable"
|+ Software bias
|-
! G0 !! G1 !! G2 !! G3 !! G4 !! G5
|-
| -1412 || 1929 || 373 || 496 || 146 || -287
|}

Note that the values are reset to 0 when the power has been turned off, so these values should always be sent to the unit to ensure proper operation.
The values can be changed via the CGI scripts using the HTTP protocol
[http://rt20/setting.cgi?setbias0=-1412&setbias1=1929&setbias2=373&setbias3=496&setbias4=146&setbias5=-287 http://rt20/setting.cgi?setbias0=-1412&setbias1=1929&setbias2=373&setbias3=496&setbias4=146&setbias5=-287]

==Product support==
So far [mailto:gparnell@ati-ia.com Greg Parnell] have been willing to supply very helpful support. Expect a couple of days response time, as he is on EST time zone.

Mini40 force/torque sensor

2013-02-13T10:10:12Z

Ttan: /* Software Bias */ Changed bias values

This page summerizes information related to the [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 Mini40 force/torque sensor] mounted on the UR5 robot arm

__TOC__

==General Information==
THE F/T sensor measures force and torque in three dimensions. The sensor reading is accessed through the Net F/T box. The hostname is <tt>rt20</tt>

The sensor configuration and information utility can be accessed using a [http://rt20/ internet browser] on a computer on the same network.
From the information page, a Java demo application can be downloaded. To run the application, download the file, go to the containing directory in a terminal and write <tt>java -jar ATINetFT.jar</tt>.

====User Manual====
The [http://www.ati-ia.com/app_content/documents/9610-05-1022.pdf manual for the Net F/T box] can be found on the manufactures homepage.

==Raw Data Transfer (RDT)==
The Net F/T box is configured for sending data using the Raw Data Transer (RDT) interface using a UDP connection.

To start streaming, send the following bytes "1234000200000000" to port 49152. For more information, consult the manual.'''Note that there is an un-documented limitation in the Net F/T firmware where it cannot stream data to a network address that is not on the same subnet. Make sure your computer is on the same subnet as the Net F/T.'''

If you are using a computer that are not on the same subnet, it is still possible to request single samples, by using the un-documented command "12340001XXXXXXXX", where XXXXXXXX instructs how many samples to send. The data rate using this method has been measured to ~333 Hz, but it is unknown whether it always transmit the newest data, or the instruction makes it transmit the next XXXXXXXX measurement, which might causes the streamed data to be out of sync at the time of reception.

==Software Bias==
The strain gauges have a natural offset. This can be biased on the Settings page for the netFT.

For FT11535 the software bias values are
{| class="wikitable"
|+ Software bias
|-
! G0 !! G1 !! G2 !! G3 !! G4 !! G5
|-
| -1129 || 1543 || 298 || 396 || 117 || -2292
|}

Note that the values are reset to 0 when the power has been turned off, so these values should always be sent to the unit to ensure proper operation.
The values can be changed via the CGI scripts using the HTTP protocol
[http://rt20/setting.cgi?setbias0=-1129&setbias1=1543&setbias2=298&setbias3=396&setbias4=117&setbias5=-2292 http://rt20/setting.cgi?setbias0=-1129&setbias1=1543&setbias2=298&setbias3=396&setbias4=117&setbias5=-2292]

==Product support==
So far [mailto:gparnell@ati-ia.com Greg Parnell] have been willing to supply very helpful support. Expect a couple of days response time, as he is on EST time zone.

Mini40 force/torque sensor

2013-02-11T16:36:20Z

Ttan: /* Raw Data Transfer (RDT) */ Typos

This page summerizes information related to the [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 Mini40 force/torque sensor] mounted on the UR5 robot arm

__TOC__

==General Information==
THE F/T sensor measures force and torque in three dimensions. The sensor reading is accessed through the Net F/T box. The hostname is <tt>rt20</tt>

The sensor configuration and information utility can be accessed using a [http://rt20/ internet browser] on a computer on the same network.
From the information page, a Java demo application can be downloaded. To run the application, download the file, go to the containing directory in a terminal and write <tt>java -jar ATINetFT.jar</tt>.

====User Manual====
The [http://www.ati-ia.com/app_content/documents/9610-05-1022.pdf manual for the Net F/T box] can be found on the manufactures homepage.

==Raw Data Transfer (RDT)==
The Net F/T box is configured for sending data using the Raw Data Transer (RDT) interface using a UDP connection.

To start streaming, send the following bytes "1234000200000000" to port 49152. For more information, consult the manual.'''Note that there is an un-documented limitation in the Net F/T firmware where it cannot stream data to a network address that is not on the same subnet. Make sure your computer is on the same subnet as the Net F/T.'''

If you are using a computer that are not on the same subnet, it is still possible to request single samples, by using the un-documented command "12340001XXXXXXXX", where XXXXXXXX instructs how many samples to send. The data rate using this method has been measured to ~333 Hz, but it is unknown whether it always transmit the newest data, or the instruction makes it transmit the next XXXXXXXX measurement, which might causes the streamed data to be out of sync at the time of reception.

==Software Bias==
The strain gauges have a natural offset. This can be biased on the Settings page for the netFT.

For FT11535 the software bias values are
{| class="wikitable"
|+ Software bias
|-
! G0 !! G1 !! G2 !! G3 !! G4 !! G5
|-
| 290 || 663 || 373 || 324 || 22 || -982
|}

Note that the values are reset to 0 when the power has been turned off, so these values should always be sent to the unit to ensure proper operation.
The values can be changed via the CGI scripts using the HTTP protocol
[http://rt20/setting.cgi?setbias0=290&setbias1=663&setbias2=373&setbias3=324&setbias4=22&setbias5=-982 http://rt20/setting.cgi?setbias0=290&setbias1=663&setbias2=373&setbias3=324&setbias4=22&setbias5=-982]

==Product support==
So far [mailto:gparnell@ati-ia.com Greg Parnell] have been willing to supply very helpful support. Expect a couple of days response time, as he is on EST time zone.

Mini40 force/torque sensor

2013-02-11T16:35:35Z

Ttan: Added software bias information

This page summerizes information related to the [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 Mini40 force/torque sensor] mounted on the UR5 robot arm

__TOC__

==General Information==
THE F/T sensor measures force and torque in three dimensions. The sensor reading is accessed through the Net F/T box. The hostname is <tt>rt20</tt>

The sensor configuration and information utility can be accessed using a [http://rt20/ internet browser] on a computer on the same network.
From the information page, a Java demo application can be downloaded. To run the application, download the file, go to the containing directory in a terminal and write <tt>java -jar ATINetFT.jar</tt>.

====User Manual====
The [http://www.ati-ia.com/app_content/documents/9610-05-1022.pdf manual for the Net F/T box] can be found on the manufactures homepage.

==Raw Data Transfer (RDT)==
The Net F/T box is configured for sending data using the Raw Data Transer (RDT) interface using a UDP connection.

To start streaming, send the following bytes "1234000200000000" to port 49152. For more information, consult the manual.'''Note that there is an undocumented limitation in the Net F/T firmware where it cannot stream data to a network address that is not on the same subnet. Make sure your computer is on the same subnet as the Net F/T.'''

If you are using a computer that are not on the same subnet, it is still possible to request single samples, by using the undocumented command "12340001XXXXXXXX", where XXXXXXXX instructs how many samples to send. The data rate using this method has been measured to ~333 Hz, but it is unknown whether it alsways transmit the newest data, or the instruction makes it transmit the next XXXXXXXX measurement, which might causes the streamed data to be out of sync at the time of reception.

==Software Bias==
The strain gauges have a natural offset. This can be biased on the Settings page for the netFT.

For FT11535 the software bias values are
{| class="wikitable"
|+ Software bias
|-
! G0 !! G1 !! G2 !! G3 !! G4 !! G5
|-
| 290 || 663 || 373 || 324 || 22 || -982
|}

Note that the values are reset to 0 when the power has been turned off, so these values should always be sent to the unit to ensure proper operation.
The values can be changed via the CGI scripts using the HTTP protocol
[http://rt20/setting.cgi?setbias0=290&setbias1=663&setbias2=373&setbias3=324&setbias4=22&setbias5=-982 http://rt20/setting.cgi?setbias0=290&setbias1=663&setbias2=373&setbias3=324&setbias4=22&setbias5=-982]

==Product support==
So far [mailto:gparnell@ati-ia.com Greg Parnell] have been willing to supply very helpful support. Expect a couple of days response time, as he is on EST time zone.

Mini40 force/torque sensor

2012-12-17T14:37:54Z

Ttan: Created the page

This page summerizes information related to the [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 Mini40 force/torque sensor] mounted on the UR5 robot arm

__TOC__

==General Information==
THE F/T sensor measures force and torque in three dimensions. The sensor reading is accessed through the Net F/T box. The hostname is <tt>rt20</tt>

The sensor configuration and information utility can be accessed using a [http://rt20/ internet browser] on a computer on the same network.
From the information page, a Java demo application can be downloaded. To run the application, download the file, go to the containing directory in a terminal and write <tt>java -jar ATINetFT.jar</tt>.

====User Manual====
The [http://www.ati-ia.com/app_content/documents/9610-05-1022.pdf manual for the Net F/T box] can be found on the manufactures homepage.

==Raw Data Transfer (RDT)==
The Net F/T box is configured for sending data using the Raw Data Transer (RDT) interface using a UDP connection.

To start streaming, send the following bytes "1234000200000000" to port 49152. For more information, consult the manual.'''Note that there is an undocumented limitation in the Net F/T firmware where it cannot stream data to a network address that is not on the same subnet. Make sure your computer is on the same subnet as the Net F/T.'''

If you are using a computer that are not on the same subnet, it is still possible to request single samples, by using the undocumented command "12340001XXXXXXXX", where XXXXXXXX instructs how many samples to send. The data rate using this method has been measured to ~333 Hz, but it is unknown whether it alsways transmit the newest data, or the instruction makes it transmit the next XXXXXXXX measurement, which might causes the streamed data to be out of sync at the time of reception.

==Product support==
So far [mailto:gparnell@ati-ia.com Greg Parnell] have been willing to supply very helpful support. Expect a couple of days response time, as he is on EST time zone.

UR5

2012-12-17T14:15:30Z

Ttan: Moved FT sensor page to its own subpage

UR5

2012-12-12T08:04:22Z

Ttan: /* Force/torque sensor */ -> Added info about the config page

The Universal Robot in 326/005 can be controlled in several different ways. The aim of this page is to collect and present the most relevant data regarding the robot arm.
__TOC__

==General information==
For remote access to the robot, i.e. from ROS or via a Python scrict, use the host name <tt>rt29</tt>.
===Starting the robot===
To power on the robot, press the green button on the control box.

After the controller computer has booted, the screen will report that the robot has changed state and needs to be initialized. To do this, press the button in the noticifation box on the screen.
On the new screen, press the top Auto button until the joints reports ''Ready''. Then hold down the Auto button until all joints report ok. Note that this will make the robot joints move, if the robot is about to collide with itself, release the auto button and move the apropriate joint(s) to avoid a collision.
When all joints are 'OK', press the <tt>Ok</tt> button in the lower right corner.

To move the robot into a desired position, press either of the top two buttons, and select the ''Move''-tap. Then move the robot by using the arrows or by holding down the Teach button and move the robot by hand.

===Denavit-Hartenberg parameters===
All values used for inertia and kinematics calculation can be found in the [https://kforge.ros.org/ros_industrial/universal_robot/file/9cf86ac2fc46/ur5_description/urdf/model.urdf.xacro ROS Model] data file.

The most important DH parameters are listed here for reference:
{| class="wikitable"
|+ Denavit-Hartenberg parameters
|-
! Joint !! Type !! a !! α !! d !! θ !! Offset
|-
| 1 || Revolute || 0.00000 || π/2 || 0.089159 || q1 || 0.00
|-
| 2 || Revolute || -0.42500 || 0.00 || 0.00000 || q2 || -π/2
|-
| 3 || Revolute || -0.39225 || 0.00 || 0.00000 || q3 || 0.00
|-
| 4 || Revolute || 0.00000 || π/2 || 0.10915 || q4 || -π/2
|-
| 5 || Revolute || 0.00000 || -π/2 || 0.09465 || q5 || 0.00
|-
| 6 || Revolute || 0.00000 || 0.00 || 0.0823 || q6 || 0.00
|}

===Force/torque sensor===
The UR5 is equipped with a [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 Mini40 force/torque sensor].<br />
The sensor is accessed using the Net F/T interface. The hostname is <tt>rt20</tt>

The sensor configuration and information utility can be accessed using a [http://rt20/ internet browser].
From the information page, a Java demo application can be downloaded. To run the application, download the file, go to the containing directory in a terminal and write <tt>java -jar ATINetFT.jar</tt>.

===Gripper information===

==Using the robot with ROS==
===Setting up ROS===
The following information concerns the Fuerte version of [http://www.ros.org ROS], which should be installed on all the desktop computers in the lab. To get it to work properly, you might have to edit <tt>~/.bashrc</tt> to use the correct version of ROS.
The easiest way to do this is to copy the last 4-5 lines, starting with <tt>if [ -f /opt/ros...</tt> and paste it just below, and then change the version name (i.e. from <tt>electric</tt> to <tt>fuerte</tt>).
====Required packages====
Besides the currently installed version of ROS, the following packages should be installed using <tt>sudo apt-get install ros-fuerte-<package name></tt>
* universal-robot ([http://ros.org/wiki/universal_robot Universal robot drivers]) - Provides drivers and a bringup to test the robot. '''Do not run the driver/test_move.py without changing the joint values. It will make the robot will smash into the wall with the standard values.''' ([[Setup the universal-robot package]])
* arm_navigation ([http://www.ros.org/wiki/arm_navigation Arm navigation documentation]) - For kinematics, planning and simulation. ([[Setup the arm_navigation package]])
* moveit ([http://moveit.ros.org/ New arm navigation stack]) - Will replace the arm_navigation stack in future releases. ([[Setup MoveIt]])
* industrial ([http://www.ros.org/wiki/Industrial Generic industrial robots package]) - Not really used at the moment. Maybe useful in Groove.
To use the Force/torque sensor, the follwing package should be installed as well
* netft ([http://www.ros.org/wiki/netft Force/torque Sensor]) - Interfaces the netft driver to the Mini40 Force/torque sensor using the Net F/T protocol. ([[Setup netFT ]])

====Common errors and workarounds====
=====Network name unavailable=====
The assigned network name is done using a Windows name server. Linux have some difficulties renewing this host name, which might lead to the name server forgetting the network mapping.
To resolve the problem, just restart the computer and boot into Windows. The reboot into Linux.

==Using the robot with MRC==

==Using the robot with Python==

UR5

2012-12-11T15:04:14Z

Ttan: /* Force/torque sensor */ -> Added hostname

UR5

2012-12-11T15:03:01Z

Ttan: /* Required packages */ Added the netft package

UR5

2012-12-11T14:57:26Z

Ttan: /* General information */ -> Added information about the force/torque sensor

UR5

2012-12-11T14:49:37Z

Ttan: /* Using the robot with ROS */ Added solution to Network name unavailable

UR5

2012-12-11T14:40:05Z

Ttan: /* Using the robot with ROS */ - Added information on changing the used ROS version

UR5

2012-12-11T14:36:56Z

Ttan: Added host name information

UR5

2012-12-11T14:34:18Z

Ttan: /* Starting the robot */

The Universal Robot in 326/005 can be controlled in several different ways. The aim of this page is to collect and present the most relevant data regarding the robot arm.
__TOC__

==General information==
===Starting the robot===
To power on the robot, press the green button on the control box.

After the controller computer has booted, the screen will report that the robot has changed state and needs to be initialized. To do this, press the button in the noticifation box on the screen.
On the new screen, press the top Auto button until the joints reports ''Ready''. Then hold down the Auto button until all joints report ok. Note that this will make the robot joints move, if the robot is about to collide with itself, release the auto button and move the apropriate joint(s) to avoid a collision.
When all joints are 'OK', press the <tt>Ok</tt> button in the lower right corner.

To move the robot into a desired position, press either of the top two buttons, and select the ''Move''-tap. Then move the robot by using the arrows or by holding down the Teach button and move the robot by hand.

===Denavit-Hartenberg parameters===
All values used for inertia and kinematics calculation can be found in the [https://kforge.ros.org/ros_industrial/universal_robot/file/9cf86ac2fc46/ur5_description/urdf/model.urdf.xacro ROS Model] data file.

The most important DH parameters are listed here for reference:
{| class="wikitable"
|+ Denavit-Hartenberg parameters
|-
! Joint !! Type !! a !! α !! d !! θ !! Offset
|-
| 1 || Revolute || 0.00000 || π/2 || 0.089159 || q1 || 0.00
|-
| 2 || Revolute || -0.42500 || 0.00 || 0.00000 || q2 || -π/2
|-
| 3 || Revolute || -0.39225 || 0.00 || 0.00000 || q3 || 0.00
|-
| 4 || Revolute || 0.00000 || π/2 || 0.10915 || q4 || -π/2
|-
| 5 || Revolute || 0.00000 || -π/2 || 0.09465 || q5 || 0.00
|-
| 6 || Revolute || 0.00000 || 0.00 || 0.0823 || q6 || 0.00
|}

==Using the robot with ROS==
The following information concerns the Fuerte version of [http://www.ros.org ROS]. To get it to work properly, you might have to edit <tt>~/.bashrc</tt> to use the corret version of ROS.
===Required packages===
Besides the currently installed version of ROS, the following packages should be installed using <tt>sudo apt-get install ros-fuerte-<package name></tt>
* universal-robot ([http://ros.org/wiki/universal_robot Universal robot drivers]) - Provides drivers and a bringup to test the robot. '''Do not run the driver/test_move.py without changing the joint values. It will make the robot will smash into the wall with the standard values.''' ([[Setup the universal-robot package]])
* arm_navigation ([http://www.ros.org/wiki/arm_navigation Arm navigation documentation]) - For kinematics, planning and simulation. ([[Setup the arm_navigation package]])
* moveit ([http://moveit.ros.org/ New arm navigation stack]) - Will replace the arm_navigation stack in future releases. ([[Setup MoveIt]])
* industrial ([http://www.ros.org/wiki/Industrial Generic industrial robots package]) - Not really used at the moment. Maybe useful in Groove.

==Using the robot with MRC==

==Using the robot with Python==

UR5

2012-12-11T14:24:20Z

Ttan: /* Required packages */ Typo

The Universal Robot in 326/005 can be controlled in several different ways. The aim of this page is to collect and present the most relevant data regarding the robot arm.
__TOC__

==General information==
===Starting the robot===
===Denavit-Hartenberg parameters===
All values used for inertia and kinematics calculation can be found in the [https://kforge.ros.org/ros_industrial/universal_robot/file/9cf86ac2fc46/ur5_description/urdf/model.urdf.xacro ROS Model] data file.

The most important DH parameters are listed here for reference:
{| class="wikitable"
|+ Denavit-Hartenberg parameters
|-
! Joint !! Type !! a !! α !! d !! θ !! Offset
|-
| 1 || Revolute || 0.00000 || π/2 || 0.089159 || q1 || 0.00
|-
| 2 || Revolute || -0.42500 || 0.00 || 0.00000 || q2 || -π/2
|-
| 3 || Revolute || -0.39225 || 0.00 || 0.00000 || q3 || 0.00
|-
| 4 || Revolute || 0.00000 || π/2 || 0.10915 || q4 || -π/2
|-
| 5 || Revolute || 0.00000 || -π/2 || 0.09465 || q5 || 0.00
|-
| 6 || Revolute || 0.00000 || 0.00 || 0.0823 || q6 || 0.00
|}

==Using the robot with ROS==
The following information concerns the Fuerte version of [http://www.ros.org ROS]. To get it to work properly, you might have to edit <tt>~/.bashrc</tt> to use the corret version of ROS.
===Required packages===
Besides the currently installed version of ROS, the following packages should be installed using <tt>sudo apt-get install ros-fuerte-<package name></tt>
* universal-robot ([http://ros.org/wiki/universal_robot Universal robot drivers]) - Provides drivers and a bringup to test the robot. '''Do not run the driver/test_move.py without changing the joint values. It will make the robot will smash into the wall with the standard values.''' ([[Setup the universal-robot package]])
* arm_navigation ([http://www.ros.org/wiki/arm_navigation Arm navigation documentation]) - For kinematics, planning and simulation. ([[Setup the arm_navigation package]])
* moveit ([http://moveit.ros.org/ New arm navigation stack]) - Will replace the arm_navigation stack in future releases. ([[Setup MoveIt]])
* industrial ([http://www.ros.org/wiki/Industrial Generic industrial robots package]) - Not really used at the moment. Maybe useful in Groove.

==Using the robot with MRC==

==Using the robot with Python==

UR5

2012-12-11T14:20:21Z

Ttan: /* Using the robot with ROS */

The Universal Robot in 326/005 can be controlled in several different ways. The aim of this page is to collect and present the most relevant data regarding the robot arm.
__TOC__

==General information==
===Starting the robot===
===Denavit-Hartenberg parameters===
All values used for inertia and kinematics calculation can be found in the [https://kforge.ros.org/ros_industrial/universal_robot/file/9cf86ac2fc46/ur5_description/urdf/model.urdf.xacro ROS Model] data file.

The most important DH parameters are listed here for reference:
{| class="wikitable"
|+ Denavit-Hartenberg parameters
|-
! Joint !! Type !! a !! α !! d !! θ !! Offset
|-
| 1 || Revolute || 0.00000 || π/2 || 0.089159 || q1 || 0.00
|-
| 2 || Revolute || -0.42500 || 0.00 || 0.00000 || q2 || -π/2
|-
| 3 || Revolute || -0.39225 || 0.00 || 0.00000 || q3 || 0.00
|-
| 4 || Revolute || 0.00000 || π/2 || 0.10915 || q4 || -π/2
|-
| 5 || Revolute || 0.00000 || -π/2 || 0.09465 || q5 || 0.00
|-
| 6 || Revolute || 0.00000 || 0.00 || 0.0823 || q6 || 0.00
|}

==Using the robot with ROS==
The following information concerns the Fuerte version of [http://www.ros.org ROS]. To get it to work properly, you might have to edit <tt>~/.bashrc</tt> to use the corret version of ROS.
===Required packages===
Besides the currently installed version of ROS, the following packages should be installed using <tt>sudo apt-get install ros-fuerte-<package name></tt>
* universal-robot ([http://ros.org/wiki/universal_robot Universal robot drivers]) - Provides drivers and a bringup to test the robot. '''Do not run the driver/test_move.py without changing the joint values. It will make the robot will smash into the wall with the standard values.''' ([[Setup the universal-robot package]])
* arm_navigation ([http://www.ros.org/wiki/arm_navigation Arm navigation documentation]) - For kinematics, planning and simulation. ([[Setup the arm_navigation package]])
* moveit ([http://moveit.ros.org/ New arm navigation stack]) - Will replace the arm_navigation stack in future releases. ([[Setup MoveIt]])
* industrial ([http://www.ros.org/wiki/Industrial Generic industrial robots package]) - Not really used at the moment. Maybe usefull in Groove.

==Using the robot with MRC==

==Using the robot with Python==

UR5

2012-12-11T13:56:12Z

Ttan: Added introduction

The Universal Robot in 326/005 can be controlled in several different ways. The aim of this page is to collect and present the most relevant data regarding the robot arm.
__TOC__

==General information==
===Starting the robot===
===Denavit-Hartenberg parameters===
All values used for inertia and kinematics calculation can be found in the [https://kforge.ros.org/ros_industrial/universal_robot/file/9cf86ac2fc46/ur5_description/urdf/model.urdf.xacro ROS Model] data file.

The most important DH parameters are listed here for reference:
{| class="wikitable"
|+ Denavit-Hartenberg parameters
|-
! Joint !! Type !! a !! α !! d !! θ !! Offset
|-
| 1 || Revolute || 0.00000 || π/2 || 0.089159 || q1 || 0.00
|-
| 2 || Revolute || -0.42500 || 0.00 || 0.00000 || q2 || -π/2
|-
| 3 || Revolute || -0.39225 || 0.00 || 0.00000 || q3 || 0.00
|-
| 4 || Revolute || 0.00000 || π/2 || 0.10915 || q4 || -π/2
|-
| 5 || Revolute || 0.00000 || -π/2 || 0.09465 || q5 || 0.00
|-
| 6 || Revolute || 0.00000 || 0.00 || 0.0823 || q6 || 0.00
|}

==Using the robot with ROS==

==Using the robot with MRC==

==Using the robot with Python==

UR5

2012-12-11T13:54:23Z

Ttan: /* Denavit-Hartenberg parameters */

Introduction

__TOC__

==General information==
===Starting the robot===
===Denavit-Hartenberg parameters===
All values used for inertia and kinematics calculation can be found in the [https://kforge.ros.org/ros_industrial/universal_robot/file/9cf86ac2fc46/ur5_description/urdf/model.urdf.xacro ROS Model] data file.

The most important DH parameters are listed here for reference:
{| class="wikitable"
|+ Denavit-Hartenberg parameters
|-
! Joint !! Type !! a !! α !! d !! θ !! Offset
|-
| 1 || Revolute || 0.00000 || π/2 || 0.089159 || q1 || 0.00
|-
| 2 || Revolute || -0.42500 || 0.00 || 0.00000 || q2 || -π/2
|-
| 3 || Revolute || -0.39225 || 0.00 || 0.00000 || q3 || 0.00
|-
| 4 || Revolute || 0.00000 || π/2 || 0.10915 || q4 || -π/2
|-
| 5 || Revolute || 0.00000 || -π/2 || 0.09465 || q5 || 0.00
|-
| 6 || Revolute || 0.00000 || 0.00 || 0.0823 || q6 || 0.00
|}

==Using the robot with ROS==

==Using the robot with MRC==

==Using the robot with Python==

UR5

2012-12-11T10:18:30Z

Ttan: Created the page

Introduction

__TOC__

==General information==
===Starting the robot===
===Denavit-Hartenberg parameters===

==Using the robot with ROS==

==Using the robot with MRC==

==Using the robot with Python==

Main Page

2012-12-11T09:11:44Z

Ttan: Removed years old typo from first word on page

Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.

These pages will contain updated information on RSE projects and other issued related to robotics research.

= Mobotware =

(Mobile Robot software)

AURS [[AU Robot Servers]] (camera, laser scanner, other servers and plugins)

[[RHD]] Robot Hardware Daemon

MRC - see SMR below

[[Version and download]]

= Robots =

[[List of SMRs]] (List of SMRs)

[[SMR]] (Small Mobile Robot)

[[MMR]] (Medium Mobile Robot)

[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)

[[Claas axion]] (Semi-autonomous heavy tractor)

[[hexakopter]] (notes for six-rotor helicopter)

[[UR5]] (Universal Robot Arm)

= RTAI-Linux system considerations =

[[Switchtool]] - Shift to Mobotware (development) branch on the robots

[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)

[[Naming networkinterfaces using udev]]

[[Slackware OpenCV package install]]

[[Setting permissions for various devices using udev]]

[[Slackware packages in robot image]]

= Controllab =

[[Platform list]] (List of computers used for various control set-ups)

[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)

[http://aut.elektro.dtu.dk/staff/sh/rsewiki/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)

= How-to documentation =

[[NTP howto]] time-sync 2 computers

Using the [[RSE SVN]] repository

[[Flash disk cloning]] - to repair robot boot disk image

[[Install on (K)UBUNTU]] - for test and development on PC or laptop

[[Install GUI-less UBUNTU]] - new boot disk image for robots

[[Install on raspberry]] - install RHD and MRC on raspbian

[[Robot GUI (MARG)]]

[[Remote Development of Mobotware Using Eclipse]]

[[Set hostnames from dhcp-server with dhclient on *buntu systems]]

====utility pages====

[[Convert a .tex document to openoffice]]

[[Access DTU campus network using VPN from Linux]]

[[disable display manager on boot]] (and thereby the graphic user interface)

How to make a animation from separate images, see [[MMR]]

====older pages====

[[Transition to version 2011]] - notes

[[RoboCup]] - bl.a. scoreboard

[[Demo of stereo camera]]

[[AU software license considerations]]

= Demonstrations =

[[PLC controlled traffic light]]

Main Page

2012-12-11T08:47:22Z

Ttan: Added sub-page for UR5

Wellcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.

These pages will contain updated information on RSE projects and other issued related to robotics research.

= Mobotware =

(Mobile Robot software)

AURS [[AU Robot Servers]] (camera, laser scanner, other servers and plugins)

[[RHD]] Robot Hardware Daemon

MRC - see SMR below

[[Version and download]]

= Robots =

[[List of SMRs]] (List of SMRs)

[[SMR]] (Small Mobile Robot)

[[MMR]] (Medium Mobile Robot)

[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)

[[Claas axion]] (Semi-autonomous heavy tractor)

[[hexakopter]] (notes for six-rotor helicopter)

[[UR5]] (Universal Robot Arm)

= RTAI-Linux system considerations =

[[Switchtool]] - Shift to Mobotware (development) branch on the robots

[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)

[[Naming networkinterfaces using udev]]

[[Slackware OpenCV package install]]

[[Setting permissions for various devices using udev]]

[[Slackware packages in robot image]]

= Controllab =

[[Platform list]] (List of computers used for various control set-ups)

[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)

[http://aut.elektro.dtu.dk/staff/sh/rsewiki/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)

= How-to documentation =

[[NTP howto]] time-sync 2 computers

Using the [[RSE SVN]] repository

[[Flash disk cloning]] - to repair robot boot disk image

[[Install on (K)UBUNTU]] - for test and development on PC or laptop

[[Install GUI-less UBUNTU]] - new boot disk image for robots

[[Install on raspberry]] - install RHD and MRC on raspbian

[[Robot GUI (MARG)]]

[[Remote Development of Mobotware Using Eclipse]]

[[Set hostnames from dhcp-server with dhclient on *buntu systems]]

====utility pages====

[[Convert a .tex document to openoffice]]

[[Access DTU campus network using VPN from Linux]]

[[disable display manager on boot]] (and thereby the graphic user interface)

How to make a animation from separate images, see [[MMR]]

====older pages====

[[Transition to version 2011]] - notes

[[RoboCup]] - bl.a. scoreboard

[[Demo of stereo camera]]

[[AU software license considerations]]

= Demonstrations =

[[PLC controlled traffic light]]