Introducción

Aprenda los conceptos básicos del uso de cobots simulados y físicos de Universal Robots en Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators

Robotics System Toolbox™ Support Package for Universal Robots UR Series Manipulators permite conectar y controlar cobots físicos de Universal Robots o cobots simulados en Gazebo y URSim utilizando Universal_Robots_ROS_Driver y paquetes ROS universal_robot de Universal Robots.

Si el objetivo final de la aplicación incluye una manipulación independiente del cobot Universal Robot, una solución ideal es utilizar la API matlab_kortex para el control y la conectividad del flujo de trabajo. Sin embargo, en la mayoría de los casos de uso de robótica, el entorno consta de varios robots y sensores, y no es común realizar manipulación independiente. En estos escenarios, ROS se utiliza ampliamente debido a las ventajas inherentes de abstracción de hardware, controladores de dispositivos, bibliotecas, visualizadores, paso de mensajes, gestión de paquetes, etc.

El paquete de soporte incluye pantallas de configuración fáciles de usar para instalar y configurar los simuladores ROS, Gazebo y URSim. Además, incluye el objeto urROSNode y el objeto urROS2Node, así como funciones relacionadas para leer varios estados del robot, controlar el robot en el espacio cartesiano o articular, seguir trayectorias predefinidas en el espacio cartesiano o articular y registrar los movimientos del robot.

Para obtener más información sobre cómo usar el objeto urROSNode, consulte el ejemplo Getting Started with Connecting and Controlling a UR5e Cobot from Universal Robots.

Para obtener más información sobre cómo usar el objeto urROS2Node, consulte el ejemplo Getting Started with Connecting and Controlling a UR5e Cobot from Universal Robots using ROS 2.

El objeto urROSNode y el objeto urROS2Node tienen funciones para controlar ángulos de articulación y pose cartesiana individuales del robot. Funciones más avanzadas muestran cómo utilizar las características de Robotics System Toolbox para calcular ángulos de articulación requeridos para realizar el seguimiento fluido de una trayectoria sin obstáculos en el espacio 3D y ordenar al robot que realice un seguimiento de la trayectoria precalculada.

Funciones

`urROS2Node`	Connection to simulated cobot or physical cobot from Universal Robots over ROS 2 (desde R2024a)
`urROSNode`	Connection to simulated cobot or physical cobot from Universal Robots over ROS (desde R2024a)
`universalrobot`	(Not recommended) Connection to simulated cobot or physical cobot from Universal Robots (desde R2022a)
`getJointConfiguration`	Get current joint configuration from the robot (desde R2022a)
`getCartesianPose`	Get current end-effector pose from the robot (desde R2022a)
`getEndEffectorVelocity`	Get current end-effector velocities from the robot (desde R2022a)
`getJointVelocity`	Get current joint velocities from the robot (desde R2022a)
`getMotionStatus`	Get current motion status of the robot (desde R2022a)
`followTrajectory`	Command robot to move along the desired joint space waypoints (desde R2022a)
`followWaypoints`	Command robot to move along the desired task space waypoints (desde R2022a)
`sendCartesianPose`	Command robot to move to desired Cartesian pose (desde R2022a)
`sendCartesianPoseAndWait`	Command robot to move to desired Cartesian pose and wait for the motion to complete (desde R2022a)
`sendJointConfiguration`	Command robot to move to desired joint configuration (desde R2022a)
`sendJointConfigurationAndWait`	Command robot to move to joint configuration and wait for the motion to complete (desde R2022a)
`recordRobotState`	Log the key robot state parameters during motion of robot (desde R2022a)
`executePrimaryURScriptCommand`	Execute primary URScript command to control cobot over ROS interface (desde R2023a)
`executeSecondaryURScriptCommand`	Execute secondary URScript command over ROS interface (desde R2023a)
`handBackControl`	Get the control back from the External Control program node in the UR program tree (desde R2023a)

Temas

Select Simulator for Universal Robots
Select URSim or Gazebo
ROS Interface for Universal Robots

Use ROS interface for complex applications with Universal Robots
- PASO 1: Launch Gazebo Simulation with UR5 Robot
- PASO 2: Connect to ROS Master from MATLAB and Read Current State of Robot
- PASO 3: Control the Robot
- PASO 4: Move the Robot Using ROS topic
- PASO 5: Move the Robot Using ROS Action
Launch and Set Up URSim
Launch and load the program in URSim
Control ROS-Enabled End-Effector Using MATLAB
Use ROS drivers along with end-effectors for Universal Robots
Installation of ROS Drivers for Intel RealSense Devices
Install ROS drivers for RGBD camera for bin picking examples.

Solución de problemas

Troubleshooting

Troubleshoot issues when simulating Universal Robots cobots using URSim or Gazebo

Ejemplos destacados

Getting Started with Connecting and Controlling a UR5e Cobot from Universal Robots

Use the urROSNode object to connect with a Universal Robots cobot and move the robot using joint space control, task space control, waypoint tracking in task space, and waypoint tracking in joint space. This example uses Robotics Systems Toolbox™ and ROS Toolbox.

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Simulate a Universal Robots UR5 Using MATLAB and Gazebo for Glue Dispensing on a Windshield

Design and validate real-life application workflows for a robotic manipulators like the UR5e cobot from Universal Robots, using Interactive Rigid Body Tree and Gazebo® physics simulator, Robotics Systems Toolbox™, and ROS Toolbox.

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Getting Started with Standalone ROS Node Generation for Universal Robots

Plan, create and validate a deployable motion planning standalone ROS node for Universal Robot UR5e with URSim, Gazebo simulator or physical UR5e. In this example, you will

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Getting Started with URScript Execution Commands and Handback Control for Universal Robots

Use specific functions that help you configure additional program nodes with MathWorks External Control URCap node. These functions associated with URScript commands can be used along with the functionalities provided by the urROSNode object, to connect with simulated or physical cobot using the ROS network. This example shows the functionality of the three functions executePrimaryURScriptCommand, executeSecondaryURScriptCommand, and handBackControl, which are available in the Robotics System Toolbox™ Support Package for Universal Robots UR Series Manipulators. These functions allow you to use the functionality supported by the some of the URScript commands and end-effector external URCap integration.

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Motion Planning and RigidBodyTree Simulation of UR5e for Bin Picking Using manipulatorRRT Algorithm

The motion planning algorithm design workflow for a real-world cobot bin picking application. The rigid body tree considered in this example is for Universal Robots URe5 cobot with the added end-effector along with the suction gripper (Robotiq Vaccum Gripper - EPick).

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Gazebo Simulation of Semi-Structured Intelligent Bin Picking for UR5e Using YOLO and PCA-Based Object Detection

Detailed workflow for simulating intelligent bin picking using Universal Robots UR5e cobot in Gazebo. The MATLAB project provided with this example consists of the Initialize, DataGeneration, Perception, Motion Planning, and Integration modules (project folders) to create a complete bin picking workflow.

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Semi-Structured Intelligent Bin Picking for UR5e Using YOLO and PCA-Based Object Detection

Detailed workflow for intelligent bin picking using Universal Robots UR5e cobot. The MATLAB project provided with this example consists of the Initialize, Perception, Motion Planning, and Integration modules (project folders) to create a complete bin picking workflow.

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Pick Standard PVC Fittings of Different Shapes Using Semi-Structured Intelligent Bin Picking for UR5e

Implement semi-structured intelligent bin picking of four different shapes of standard PVC fittings. This example uses Universal Robots UR5e for doing the bin picking task, and lets you successfully detect and classify the objects, and then use the suction gripper connected to the cobot to sort the picked up items in four different bins.

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Simulink Based Intelligent Bin Picking Using Universal Robots UR5e for PVC Fittings

Implement semi-structured intelligent bin picking of four different shapes of standard PVC fittings. This example uses Universal Robots UR5e to perform the bin picking task, enabling successful detection and classification of objects.Then, it uses the suction gripper connected to the cobot to sort the picked up items into four different bins.

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Getting Started with Connecting and Controlling a UR5e Cobot from Universal Robots using ROS 2

Use the urROS2Node object to connect with a Universal Robots cobot and move the robot using joint space control, task space control, waypoint tracking in task space, and waypoint tracking in joint space. This example uses Robotics Systems Toolbox™ and ROS Toolbox.

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