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real time interface in ur5 robot

asked 2014-12-19 08:02:01 -0600

Jan Moritz gravatar image

updated 2014-12-22 04:02:02 -0600

130s gravatar image


I am writing my final bachelor project. I have to run an Universal UR5 robot with speech recognition. At the moment I have signs like "right", "left", etc. in python.

So I've got a few questions. Is it possible to have an real time interface in the ur5 robot and the simulation? Do you have any ideas how to realise this? I read about an moveit interface with python. Is it working with this in real time?

I would be very greatful for any help =)

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Could you clarify what you exactly mean with "real time interface". Do you need hard real-time 1kHz force/velocity control for instance, or is 10Hz position control sufficient? The quality of the answers will probably depend on what your requirements are.

gvdhoorn gravatar image gvdhoorn  ( 2014-12-19 11:19:22 -0600 )edit

10 Hz position control is ok. do you have any ideas?

Jan Moritz gravatar image Jan Moritz  ( 2014-12-22 03:28:14 -0600 )edit

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answered 2014-12-22 03:32:37 -0600

gvdhoorn gravatar image

updated 2014-12-22 04:04:42 -0600

Based on the requirements you state (and the fact that you haven't mentioned it yet), I'd take a look at the universal_robot package. It can probably do what you want.

The wiki page is a bit barren, but the file in the repository should clear things up.

Note that the driver provides just a FollowJointTrajectoryAction server. You'll have to write a client yourself (ur_driver/ shows a minimal example of how to do this).

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Asked: 2014-12-19 08:02:01 -0600

Seen: 1,582 times

Last updated: Dec 22 '14