入門

Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators で、Universal Robots 製の物理協働ロボットとシミュレートされた協働ロボットの使用の基本を確認する

Robotics System Toolbox™ Support Package for Universal Robots UR Series Manipulators を使用すると、Universal Robots 製の Universal_Robots_ROS_Driver および universal_robot ROS パッケージにより、Universal Robots 製の物理協働ロボットまたは Gazebo および URSim のシミュレートされた協働ロボットの接続と制御が可能になります。

アプリケーションの意図した最終目標が Universal Robot 製協働ロボットのスタンドアロン操作のみに関係している場合、ティーチングペンダントと Polyscope ソフトウェアを使用した制御と接続のワークフローが最適なソリューションです。ただし、ロボティクスのユースケースの大部分では、環境は複数のロボットとセンサーで構成され、スタンドアロンの操作は一般的ではありません。このようなシナリオでは、ROS は、ハードウェア抽象化、デバイスドライバー、ライブラリ、ビジュアライザー、メッセージ伝達、パッケージ管理などの固有の利点のため、広く使用されています。

サポートパッケージは、ROS、Gazebo、および URSim シミュレーターをインストールして構成するための使いやすい設定画面で構成されています。さらに、urROSNode オブジェクトと urROS2Node オブジェクト、およびさまざまなロボットの状態を読み取り、タスクまたはジョイント空間でロボットを制御し、タスクまたはジョイント空間で事前に定義された軌跡をたどり、ロボットの運動を記録するための関連機能で構成されています。

urROSNode オブジェクトの使用方法の詳細については、Getting Started with Connecting and Controlling a UR5e Cobot from Universal Robotsの例を参照してください。

urROS2Node オブジェクトの使用方法の詳細については、Getting Started with Connecting and Controlling a UR5e Cobot from Universal Robots using ROS 2の例を参照してください。

urROSNode オブジェクトと urROS2Node オブジェクトは、ロボットの個々のジョイント角度と直交座標の姿勢を制御する機能を備えています。より高度な機能では、Robotics System Toolbox の機能を使用して、3D 空間で滑らかな軌跡を追跡するために必要なジョイント角度を計算し、事前に計算された軌跡を追跡するようにロボットに命令する方法を示します。

関数

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

トピック

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

Use ROS interface for complex applications with Universal Robots
- ステップ 1: Launch Gazebo Simulation with UR5 Robot
- ステップ 2: Connect to ROS Master from MATLAB and Read Current State of Robot
- ステップ 3: Control the Robot
- ステップ 4: Move the Robot Using ROS topic
- ステップ 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.

トラブルシューティング

Troubleshooting

Troubleshoot issues when simulating Universal Robots cobots using URSim or Gazebo

注目の例

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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