UR5 - Revision history

S113024: /* Gripper information */

2014-05-15T13:35:07Z

Gripper information

← Older revision		Revision as of 15:35, 15 May 2014
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	'''setpos x''': Sets the servo to a specific position		'''setpos x''': Sets the servo to a specific position

	'''setdist x''': Set the distance between the gripper fingers to x mm		'''setdist x''': Set the distance between the gripper fingers to x mm, max is approx 120 mm

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

S113024: /* Gripper information */

2014-05-15T13:33:05Z

Gripper information

← Older revision		Revision as of 15:33, 15 May 2014
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	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.		The servo angle for a given distance can be found with the expression ''math.asin((dist+2.28)/120.0) * 180.0/math.pi''. Note that for very small values, this is not correct.

			The opening distance, for an angle a, can be found as ''120*sin(a)-2.28''

			Also, for more information, the gripper was designed by "Eugene Stassen", and his thesis "Analysis and Design of Robot Grippers." is avaliable on dtu findit.

	==Using the robot with ROS==		==Using the robot with ROS==

Ttan: /* Using the robot with Python */

2013-03-08T14:02:05Z

Using the robot with Python

← Older revision		Revision as of 16:02, 8 March 2013
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	==Using the robot with Python==		==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.

Ttan: /* Gripper information */

2013-02-13T12:35:33Z

Gripper information

← Older revision		Revision as of 14:35, 13 February 2013
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	===Gripper information===		===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==		==Using the robot with ROS==

Ttan: Moved FT sensor page to its own subpage

2012-12-17T14:15:30Z

Moved FT sensor page to its own subpage

← Older revision		Revision as of 16:15, 17 December 2012
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	===Force/torque sensor===		===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 UR5 is equipped with a [[Mini40 force/torque sensor]]
	~~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===		===Gripper information===

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

2012-12-12T08:04:22Z

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

← Older revision		Revision as of 10:04, 12 December 2012
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	===Force/torque sensor===		===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].		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 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===		===Gripper information===

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

2012-12-11T15:04:14Z

Force/torque sensor: -> Added hostname

← Older revision		Revision as of 17:04, 11 December 2012
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	===Force/torque sensor===		===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].		The UR5 is equipped with a [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 Mini40 force/torque sensor].
			The sensor is accessed using the Net F/T interface. The hostname is <tt>rt20</tt>

	===Gripper information===		===Gripper information===

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

2012-12-11T15:03:01Z

Required packages: Added the netft package

← Older revision		Revision as of 17:03, 11 December 2012
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	* moveit ([http://moveit.ros.org/ New arm navigation stack]) - Will replace the arm_navigation stack in future releases. ([[Setup MoveIt]])		* 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.		* 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====		====Common errors and workarounds====
	=====Network name unavailable=====		=====Network name unavailable=====

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

2012-12-11T14:57:26Z

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

← Older revision		Revision as of 16:57, 11 December 2012
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	\|}		\|}

			===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].
	===Gripper information===		===Gripper information===

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

2012-12-11T14:49:37Z

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

← Older revision		Revision as of 16:49, 11 December 2012
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	==Using the robot with ROS==		==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 correct version of 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>).		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===		====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>		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]])		* 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]])
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	* moveit ([http://moveit.ros.org/ New arm navigation stack]) - Will replace the arm_navigation stack in future releases. ([[Setup MoveIt]])		* 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.		* industrial ([http://www.ros.org/wiki/Industrial Generic industrial robots package]) - Not really used at the moment. Maybe useful in Groove.
			====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 MRC==

	==Using the robot with Python==		==Using the robot with Python==