URRTDE Class Reference

URRTDE class provides a control interface for the UR Robots using RTDE. More...

#include <URRTDE.hpp>

Public Types
typedef rw::core::Ptr< URRTDE >	Ptr

Public Member Functions
	URRTDE (std::string robot_ip, std::vector< std::string > variables={})
bool	reconnect ()
bool	isConnected ()
void	stopRobot ()
bool	reuploadScript ()
bool	sendCustomScriptFunction (const std::string &function_name, const std::string &script)
bool	sendCustomScriptFile (const std::string &file_path)
bool	moveJ (const rw::math::Q &q, double speed, double acceleration)
	Move to joint configuration (linear in joint-space) More...
bool	moveJ (const rw::trajectory::QPath &q_path)
	Move to each joint configuration specified in a QPath. More...
bool	moveJ_IK (const rw::math::Transform3D<> &pose, double speed, double acceleration)
	Move to pose (linear in joint-space) More...
bool	moveL (const rw::math::Transform3D<> &pose, double speed, double acceleration)
	Move to position (linear in tool-space) More...
bool	moveL (const rw::trajectory::Transform3DPath &pose_path)
	Move to each pose specified in a Transform3DPath. More...
bool	moveL_FK (const rw::math::Q &q, double speed, double acceleration)
	Move to position (linear in tool-space) More...
bool	speedJ (const rw::math::Q &qd, double acceleration, double time=0.0)
	Joint speed - Accelerate linearly in joint space and continue with constant joint speed. More...
bool	speedL (const rw::math::Q &xd, double acceleration, double time=0.0)
	Tool speed - Accelerate linearly in Cartesian space and continue with constant tool speed. The time t is optional;. More...
bool	servoJ (const rw::math::Q &q, double speed, double acceleration, double time, double lookahead_time, double gain)
	Servo to position (linear in joint-space) More...
bool	servoStop ()
bool	speedStop ()
bool	forceMode (const rw::math::Transform3D<> &task_frame, const rw::math::Q &selection_vector, const rw::math::Wrench6D<> &wrench, int type, const rw::math::Q &limits)
	Set robot to be controlled in force mode. More...
bool	forceModeStop ()
bool	zeroFtSensor ()
bool	setStandardDigitalOut (std::uint8_t output_id, bool signal_level)
bool	setToolDigitalOut (std::uint8_t output_id, bool signal_level)
bool	setPayload (double mass, const std::vector< double > &cog={})
bool	teachMode ()
bool	endTeachMode ()
bool	forceModeSetDamping (double damping)
bool	forceModeSetGainScaling (double scaling)
bool	setSpeedSlider (double speed)
bool	setAnalogOutputVoltage (std::uint8_t output_id, double voltage_ratio)
bool	setAnalogOutputCurrent (std::uint8_t output_id, double current_ratio)
bool	isProgramRunning ()
double	getTimestamp ()
rw::math::Q	getTargetQ ()
rw::math::Q	getTargetQd ()
rw::math::Q	getTargetQdd ()
rw::math::Q	getTargetCurrent ()
rw::math::Q	getTargetMoment ()
rw::math::Q	getActualQ ()
rw::math::Q	getActualQd ()
rw::math::Q	getActualCurrent ()
rw::math::Q	getJointControlOutput ()
rw::math::Transform3D	getActualTCPPose ()
rw::math::Q	getActualTCPSpeed ()
rw::math::Wrench6D	getActualTCPForce ()
rw::math::Transform3D	getTargetTCPPose ()
rw::math::Q	getTargetTCPSpeed ()
uint64_t	getActualDigitalInputBits ()
rw::math::Q	getJointTemperatures ()
double	getActualExecutionTime ()
int32_t	getRobotMode ()
uint32_t	getRobotStatus ()
std::vector< int32_t >	getJointMode ()
int32_t	getSafetyMode ()
rw::math::Q	getActualToolAccelerometer ()
double	getSpeedScaling ()
double	getTargetSpeedFraction ()
double	getActualMomentum ()
double	getActualMainVoltage ()
double	getActualRobotVoltage ()
double	getActualRobotCurrent ()
rw::math::Q	getActualJointVoltage ()
uint64_t	getActualDigitalOutputBits ()
uint32_t	getRuntimeState ()
double	getStandardAnalogInput0 ()
double	getStandardAnalogInput1 ()
double	getStandardAnalogOutput0 ()
double	getStandardAnalogOutput1 ()

Detailed Description

URRTDE class provides a control interface for the UR Robots using RTDE.

Member Function Documentation

endTeachMode()

bool endTeachMode

(

)

forceMode()

bool forceMode	(	const rw::math::Transform3D<> &	task_frame,
		const rw::math::Q &	selection_vector,
		const rw::math::Wrench6D<> &	wrench,
		int	type,
		const rw::math::Q &	limits
	)

Set robot to be controlled in force mode.

Parameters

task_frame	A Transform3D pose that defines the force frame relative to the base frame.
selection_vector	A 6d Q vector of 0s and 1s. 1 means that the robot will be compliant in the corresponding axis of the task frame
wrench	The forces/torques the robot will apply to its environment. The robot adjusts its position along/about compliant axis in order to achieve the specified force/torque. Values have no effect for non-compliant axes
type	An integer [1;3] specifying how the robot interprets the force frame. 1: The force frame is transformed in a way such that its y-axis is aligned with a vector pointing from the robot tcp towards the origin of the force frame. 2: The force frame is not transformed. 3: The force frame is transformed in a way such that its x-axis is the projection of the robot tcp velocity vector onto the x-y plane of the force frame.
limits	(Float) 6d Q vector. For compliant axes, these values are the maximum allowed tcp speed along/about the axis. For non-compliant axes, these values are the maximum allowed deviation along/about an axis between the actual tcp position and the one set by the program.

forceModeSetDamping()

bool forceModeSetDamping

(

double

damping

)

forceModeSetGainScaling()

bool forceModeSetGainScaling

(

double

scaling

)

forceModeStop()

bool forceModeStop

(

)

getActualCurrent()

rw::math::Q getActualCurrent

(

)

getActualDigitalInputBits()

uint64_t getActualDigitalInputBits

(

)

getActualDigitalOutputBits()

uint64_t getActualDigitalOutputBits

(

)

getActualExecutionTime()

double getActualExecutionTime

(

)

getActualJointVoltage()

rw::math::Q getActualJointVoltage

(

)

getActualMainVoltage()

double getActualMainVoltage

(

)

getActualMomentum()

double getActualMomentum

(

)

getActualQ()

rw::math::Q getActualQ

(

)

getActualQd()

rw::math::Q getActualQd

(

)

getActualRobotCurrent()

double getActualRobotCurrent

(

)

getActualRobotVoltage()

double getActualRobotVoltage

(

)

getActualTCPForce()

rw::math::Wrench6D getActualTCPForce

(

)

getActualTCPPose()

rw::math::Transform3D getActualTCPPose

(

)

getActualTCPSpeed()

rw::math::Q getActualTCPSpeed

(

)

getActualToolAccelerometer()

rw::math::Q getActualToolAccelerometer

(

)

getJointControlOutput()

rw::math::Q getJointControlOutput

(

)

getJointMode()

std::vector< int32_t > getJointMode

(

)

getJointTemperatures()

rw::math::Q getJointTemperatures

(

)

getRobotMode()

int32_t getRobotMode

(

)

getRobotStatus()

uint32_t getRobotStatus

(

)

getRuntimeState()

uint32_t getRuntimeState

(

)

getSafetyMode()

int32_t getSafetyMode

(

)

getSpeedScaling()

double getSpeedScaling

(

)

getStandardAnalogInput0()

double getStandardAnalogInput0

(

)

getStandardAnalogInput1()

double getStandardAnalogInput1

(

)

getStandardAnalogOutput0()

double getStandardAnalogOutput0

(

)

getStandardAnalogOutput1()

double getStandardAnalogOutput1

(

)

getTargetCurrent()

rw::math::Q getTargetCurrent

(

)

getTargetMoment()

rw::math::Q getTargetMoment

(

)

getTargetQ()

rw::math::Q getTargetQ

(

)

getTargetQd()

rw::math::Q getTargetQd

(

)

getTargetQdd()

rw::math::Q getTargetQdd

(

)

getTargetSpeedFraction()

double getTargetSpeedFraction

(

)

getTargetTCPPose()

rw::math::Transform3D getTargetTCPPose

(

)

getTargetTCPSpeed()

rw::math::Q getTargetTCPSpeed

(

)

getTimestamp()

double getTimestamp

(

)

isConnected()

bool isConnected

(

)

isProgramRunning()

bool isProgramRunning

(

)

moveJ() [1/2]

bool moveJ	(	const rw::math::Q &	q,
		double	speed,
		double	acceleration
	)

Move to joint configuration (linear in joint-space)

Parameters

q	joint positions
speed	joint speed of leading axis [rad/s]
acceleration	joint acceleration of leading axis [rad/s^2]

moveJ() [2/2]

bool moveJ

(

const rw::trajectory::QPath &

q_path

)

Move to each joint configuration specified in a QPath.

Parameters

q_path

with joint configurations that includes acceleration, speed and blend for each configuration

moveJ_IK()

bool moveJ_IK	(	const rw::math::Transform3D<> &	pose,
		double	speed,
		double	acceleration
	)

Move to pose (linear in joint-space)

Parameters

pose	target pose as Transform3D
speed	joint speed of leading axis [rad/s]
acceleration	joint acceleration of leading axis [rad/s^2]

moveL() [1/2]

bool moveL	(	const rw::math::Transform3D<> &	pose,
		double	speed,
		double	acceleration
	)

Move to position (linear in tool-space)

Parameters

pose	target pose
speed	tool speed [m/s]
acceleration	tool acceleration [m/s^2]

moveL() [2/2]

bool moveL

(

const rw::trajectory::Transform3DPath &

pose_path

)

Move to each pose specified in a Transform3DPath.

Parameters

path	with tool poses specified as Transform3D

moveL_FK()

bool moveL_FK	(	const rw::math::Q &	q,
		double	speed,
		double	acceleration
	)

Move to position (linear in tool-space)

Parameters

q	joint positions
speed	tool speed [m/s]
acceleration	tool acceleration [m/s^2]

reconnect()

bool reconnect

(

)

reuploadScript()

bool reuploadScript

(

)

sendCustomScriptFile()

bool sendCustomScriptFile

(

const std::string &

file_path

)

sendCustomScriptFunction()

bool sendCustomScriptFunction	(	const std::string &	function_name,
		const std::string &	script
	)

servoJ()

bool servoJ	(	const rw::math::Q &	q,
		double	speed,
		double	acceleration,
		double	time,
		double	lookahead_time,
		double	gain
	)

Servo to position (linear in joint-space)

Parameters

q	joint positions [rad]
speed	NOT used in current version
acceleration	NOT used in current version
time	time where the command is controlling the robot. The function is blocking for time t [S]
lookahead_time	time [S], range [0.03,0.2] smoothens the trajectory with this lookahead time
gain	proportional gain for following target position, range [100,2000]

servoStop()

bool servoStop

(

)

setAnalogOutputCurrent()

bool setAnalogOutputCurrent	(	std::uint8_t	output_id,
		double	current_ratio
	)

setAnalogOutputVoltage()

bool setAnalogOutputVoltage	(	std::uint8_t	output_id,
		double	voltage_ratio
	)

setPayload()

bool setPayload	(	double	mass,
		const std::vector< double > &	cog = {}
	)

setSpeedSlider()

bool setSpeedSlider

(

double

speed

)

setStandardDigitalOut()

bool setStandardDigitalOut	(	std::uint8_t	output_id,
		bool	signal_level
	)

setToolDigitalOut()

bool setToolDigitalOut	(	std::uint8_t	output_id,
		bool	signal_level
	)

speedJ()

bool speedJ	(	const rw::math::Q &	qd,
		double	acceleration,
		double	time = 0.0
	)

Joint speed - Accelerate linearly in joint space and continue with constant joint speed.

Parameters

qd	joint speeds [rad/s]
acceleration	joint acceleration [rad/s^2] (of leading axis)
time	time [s] before the function returns (optional)

speedL()

bool speedL	(	const rw::math::Q &	xd,
		double	acceleration,
		double	time = 0.0
	)

Tool speed - Accelerate linearly in Cartesian space and continue with constant tool speed. The time t is optional;.

Parameters

xd	tool speed [m/s] (spatial vector)
acceleration	tool position acceleration [m/s^2]
time	time [s] before the function returns (optional)

speedStop()

bool speedStop

(

)

stopRobot()

void stopRobot

(

)

teachMode()

bool teachMode

(

)

zeroFtSensor()

bool zeroFtSensor

(

)

---

The documentation for this class was generated from the following file:

• URRTDE.hpp