UR5: Difference between revisions

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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 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 MRC==


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

Revision as of 15:20, 11 December 2012

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.

General information

Starting the robot

Denavit-Hartenberg parameters

All values used for inertia and kinematics calculation can be found in the ROS Model data file.

The most important DH parameters are listed here for reference:

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 ROS. To get it to work properly, you might have to edit ~/.bashrc to use the corret version of ROS.

Required packages

Besides the currently installed version of ROS, the following packages should be installed using sudo apt-get install ros-fuerte-<package name>

Using the robot with MRC

Using the robot with Python