universal robots · 2019. 10. 13. · universal robot의matlab toolbox 소개하기 • this tool...

UNIVERSAL ROBOTS

Yanyan Dai

[email protected]

2

1. Kinematics of UR3 Robot

2. Control UR using Python (Hardware)

3. Control UR using MATLAB (Simulation, Hardware)

4. Control UR using MoveIt in ROS (Simulation, Hardware)

5. HUSKY DUAL UR5 MOBILE MANIPULATION DEMO (Simulation)

Kinematics of UR3 Robot

• DH Parameter of UR3 Robot

https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-

calculations-of-kinematics-and-dynamics-45257/

θ d (mm) α (rad) l (mm)

Joint 1 θ1 151.9 π/2 0

Joint 2 θ2 0 0 -243.65

Joint 3 θ3 0 0 -213.25

Joint 4 θ4 112.35 π/2 0

Joint 5 θ5 85.35 -π/2 0

Joint 6 θ6 81.9 0 0

https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/


G. W. Jiang, et.al “A Precise Positioning Method for a Puncture Robot Based on a PSO-Optimized

BP Neural Network Algorithm,” Applied Sciences, doi:10.3390/app7100969


• Transformation matrix from the base to the end effector:

• The orientation of the end effector is described according to the RPY

(roll-pitch-yaw) rotation.

• These rotations are the angles around the Z-Y-Z axis




• The forward kinematics equation of the robot is:

• The inverse kinematics equation is:



02 Necessary Resources

• Functions

• Parameters in Functions

• Examples

URX Python 라이브러리 소개

• urx is a python library to control the robots from Universal Robots.

• urx is an easy to use module for pick and place operations – based

applications that do not require high control frequency

• urx can use the python-math3d library to receive and send transformation

matrices to the robot.

설치하기

1. PC에 Python 설치하기

2. Python 라이브러리 설치하기

2.1 검색창에 cmd를 입력하여 열고, 다음 명령어 기입하기

pip install numpy

pip install math3d

설치하기

3. URX 라이브러리 설치하기

검색창에서 “cmd”를 입력하여 열고, 다음 명령을 입력합니다.

pip install urx

4. PyCharm 설치하기

연결하기

• Desktop PC • UR onboard PC

실습 1. 시작 포즈 자세를 유지하면서 urx 메서드를 실행하는 예제

1. UR3 온보드 PC와 컴퓨터를 이더넷 케이블로 연결합니다. UR3의 전원을 켜고 로봇

기능(Feature)을 Base로 설정합니다.


2. PyCharm을 열고 새 프로젝트를 만듭니다. 외부 라이브러리 추가: File → Settings.

Settings 팝업 윈도우에서 Project → Project Interpreter → Python 3.6 E: \ Python

\ Python.exe를 선택합니다.


3. Create URAll_Test.py file and Run it.

• rob = urx.Robot("192.168.0.100")

• rob.set_tcp((0, 0, 0, 0, 0, 0))

• rob.set_payload(0.5, (0, 0, 0))

• rob.getj()

• rob.get_pose()

• rob.getl()

• rob.movels([p1, p2], vel=v, acc=a, radius=r, wait=False, threshold=None)

• rob.movej(initj, acc=0.8, vel=0.2, wait=False, relative=False, threshold=None)

• rob.movec(via, to, acc=a, vel=v, wait=False, threshold=None)

• rob.translate((l, 0, 0), acc=a, vel=v, wait=False, command="movel")

• rob.translate_tool((0, 0, l), vel=v, acc=a, wait=False, threshold=None)

• t.orient.rotate_zb(pi / 8)

rob.set_pose(t, vel=v, acc=a, wait=wait(), threshold=None)

False or wait functionblend

이동 명령: Move J

• 관절 이동

• 보간 없음

• 가장 빠른 이동 종류

• 이동이 자유로운 공간에서 유용

Waypoint_2

Waypoint_3

Waypoint_1

Waypoint_4

17

이동 명령: Move L

• 직선 이동

• TCP에 대해 직선 궤적으로 보간

Waypoint_2

Waypoint_3

Waypoint_1

Waypoint_4

18

이동 명령: MoveL with blend

• 혼합 반지름

• 연속 이동

• 웨이포인트에서 정지하지 않음

Waypoint_2

Waypoint_3

Waypoint_1

Waypoint_4

blend radius

19

이동 명령: Move P

shared blend

constant

TCP speed

• 프로세스 이동

• 프로세스 응용

• 직선 이동

• TCP 속도 고정

• 혼합 반지름 공유

Waypoint_2

Waypoint_3

Waypoint_1

Waypoint_4

20

이동 명령: Move C

21

• 원형 이동

• TCP에 대해 원형 궤적

• 웨이포인트 3개 필요

– 시작점

– 경유점

– 종료점

• 반지름 자동 계산Waypoint_1

Waypoint_2

Waypoint_3

Waypoint_5 Waypoint_4

(Start point) (End point)

(Via point)

실습2. OnRobot RG2 그리퍼 제어하기

Step 1): import onrobot_rg2_gripper.py file

실습2. OnRobot RG2 그리퍼 제어하기

2. Run test_rg2_gripper.py

The source code is explained as:Line 1: import on_robot_rg2_gripper file made instep 1)Line 3: import urx libraryLine 10: establish connectionLine 11: initial functionLine 12: open rg2 gripperLine 13: close rg2 gripperLine 15: disconnect robot

실습3. UR3와 OnRobot RG2 그리퍼를 사용한 픽앤플레이스 어플리케이션

1. Create pick_place.py file

Universal Robot의 MATLAB Toolbox 소개하기

• This tool box interfaces industrial manipulators form Universal Robots with

MATLAB.

• The toolbox allows users to interface manipulators leveraging the URX

Python library.

• This toolbox also includes:

– visualization tools

– forward and inverse kinematics functions

– Jacobians

– an URScript control approach allowing users to smoothly command UR manipulators

along desired trajectories


• DH Parameter of UR3 Robot

MATLAB Toolbox 설치하기

1. Python Installation

1. pip install numpy

2. pip install math3d

3. pip install urx

2. MATLAB Installation

2.1 Download URToolbox (https://github.com/Kutzer/URToolbox)

2.2 Unzip “URToolbox.zip”

2.3 Open MATLAB as an administrator

2.4 Run “installURToolbox”

3. Setup computer’s IP address and UR onboard PC’s IP address

https://github.com/Kutzer/URToolbox

MATLAB Toolbox 설치하기

4. URToolboxScript Installation

4.1 DownDownload WinSCP v.5.7.7 or later version (https://winscp.net/download/winscp577setup.exe)

4.2 Create an FTP connection with the UR system

4.3 Revise “URToolboxScript.script” file, open MATLAB as an administrator and revise some contents in the

URToolboxScript.script file as below. Save the file.

4.4 Upload “URToolboxScript.script” from the unzipped “URToolbox.zip” directory to the “/programs” directory on the UR.

4.5 Load the script using the teach pendant and save the compiled URP file when prompted

Username: root

Password: easybot

Port: 22

실습1. MATLAB UR Toolbox를 이용하여 UR 시뮬레이션

1. 관리자권한으로 MATLAB을실행합니다. SCRIPT_DrawCircle.m 파일을실행하고 UR을선

택합니다.


2. When I choose UR3 model, and set the Tool as the defined waypoints in the following

source code. The URsim object is used to visualize the robot and calculate inverse

kinematics for the system


3. Test result:

실습 2. MATLAB UR Toolbox를 이용한 Universal Robot Process

1. 관리자권한으로 MATLAB을실행합니다. SCRIPT_DrawCircle.m 파일을엽니다.

2. 하드웨어연결플래그를 True로설정합니다.

3. UR 온보드컨트롤러에서 URToolbox.urp 파일을엽니다. SCRIPT_DrawCircle.m 파일을실행합니다.

Enter server IP address: 192.168.0.77Enter port: 30003Enter number of connections to be made: 1Server created.Begin UR onboard controller, then press ENTER.Connections established.Would you like to create a URX connection as well? yEnter URX address: 192.168.0.100

실습 2. MATLAB UR Toolbox를 이용한 Universal Robot Process

Robot working senario

• Understanding the request

• Understanding the environment

• Planning the task

• Executing the task

Contents

• MoveIt! Introduction

• MoveIt! Quick start

• Control real UR robot with Move Group C++ Interface

What is MoveIt! ?

• An easy-to-use platform for developing advanced robotic

applications, evaluating new robotic designs and building

integrated robotic products

• Features:

– Motion planning

• Navigation

• Manipulation

– Environment integration (3rd party lib)

• 3D perception

• Kinematics

• Control

• Support many robots:

– Mobile platforms

– Manipulators with grippers

– Humanoids

MoveIt! System Framework

Planning Scene:

• Planning Scene: representation of the environment, and save robot’s state.

• State information: joint states

• Sensor information: using the world geometry monitor

• World geometry information: from user input on the planning_scene topic

3D Perception

• 3D Perception: process by occupancy map monitor

– Point clouds: handled by the point cloud occupancy map updater

plugin

– Depth images: handled by the depth image occupancy map updater

plugin

Motion Planning Libraries

• OMPL: (open Motion Planning Library)

– An open source C++ library for motion planning

– It includes a number of advanced algorithms for motion planning.

– The algorithm in this library is based on the sampling planning

algorithm, which can realize the path planning between different target

points.

Kinematics and Collisions

• Kinematics

– Orocos KDL

– Basic FK + Jdacobians

– IKFast link

– Own IK

• Collisions:

– Flexible Collision Library

– Meshes, Primitive Shapes, Octomap

– Allowed Collision Matrix

MoveIt! Quick start

• Assembly: Creating a robot URDF model

• Configuration: Generate a configuration file using the MoveIt!

Setup Assistant tool

• Drive: Add robot controller plugin

• Control: MoveIt! Control robot movement

Install Universal Robot ROS

mkdir –p ~/ur/catkin_ws/src

cd ~/ur/catkin_ws/src && catkin_init_workspace

git clone https://github.com/ros-industrial/universal_robot

git clone https://github.com/ros-industrial/ur_modern_driver

cd ..

catkin_make install

source ~/ur/catkin_ws/devel/setup.bash

Creating robot URDF model

Step 1): Create Robot URDF Model

Creating robot URDF model -- definition

Property definition

Inertial matrix

definition

Creating robot URDF model – link and joint

Link:• Visual• Collision• inertial

Joint:

Creating robot URDF model – link and joint

Transmission interface

Controller plugin

Creating robot URDF model – gazebo property

Transmission interface

Controller plugin

Creating robot URDF model – Visualization

Joint_state tf

view_ur3.launch

Creating robot URDF model – Visualization

roslaunch ur_description view_ur3.launch

Creating robot URDF model

Step 2): Generate a configuration file

using the MoveIt! Setup Assistant tool

MoveIt! Setup Assistant

roslaunch ur3_moveit_config setup_assistant.launch

Load Model

MoveIt! Setup Assistant – Self-Collisions

roslaunch ur3_moveit_config setup_assistant.launch

Set Sample Point

MoveIt! Setup Assistant – Planning Groups

Manipulator Planning Groups

MoveIt! Setup Assistant – Planning Groups

Manipulator and

endeffector planning

groups

MoveIt! Setup Assistant – Robot Poses

Set Robot Pose: home, up

MoveIt! Setup Assistant – End Effectors

Set end effectors

MoveIt! Setup Assistant – Author Information

Fill in author information

MoveIt! Setup Assistant – Configuration Files

Generate

configuration

files

MoveIt! Setup Assistant – Configuration Files

MoveIt! Demo

roslaunch ur3_moveit_config demo.launch

Motion Planning PluginRobot State Display

MoveIt! Demo – Drag Planning

Drag mouse to set

goal point

MoveIt! Demo – Random Goal Planning

Set random goals

MoveIt! Demo – Set start point

Set start point

Add robot controller plugin

Step 3): Add robot controller plugin


• Name: Controller plugin name

• Action_ns: namespace of the

action message

• Type: type of action

• Joints: The joints included in

the planning group


fake_moveit_controller_manager.launch


Step 4): MoveIt! Control robot

movement

MoveIt! Control robot movement

• “move_group” Python Interface • “move_group” C++ Interface

group_name = "panda_arm"

group = moveit_commander.MoveGroupCommander(group_name)

pose_goal = geometry_msgs.msg.Pose()

pose_goal.orientation.w = 1.0

pose_goal.position.x = 0.4

pose_goal.position.y = 0.1

pose_goal.position.z = 0.4

group.set_pose_target(pose_goal)

static const std::string PLANNING_GROUP = "panda_arm";

moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);

geometry_msgs::Pose target_pose1;

target_pose1.orientation.w = 1.0;

target_pose1.position.x = 0.28;

target_pose1.position.y = -0.2;

target_pose1.position.z = 0.5;

move_group.setPoseTarget(target_pose1);

MoveIt! Control robot movement- Move Up and Down

MoveIt! Control robot movement--Move Up and Down

• Add content in CMakeLists.txt

• Open a terminal, compile workspacecd ur/catkin_ws

catkin_make

• Run commandroslaunch ur_gazebo ur3.launch

roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true

roslaunch ur3_moveit_config moveit_rviz.launch config:=true

rosrun ur_modern_driver ur_test02

MoveIt! Control robot movement- Plan to goal point

MoveIt! Control robot movement – Plan to goal point

• Run commandroslaunch ur_gazebo ur3_joint_limited.launch

roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true limited:=true



MoveIt! Control robot movement – Add an object, plan safe path

MoveIt! Control robot movement – Add an object, plan safe path

• Run commandroslaunch ur_gazebo ur3_joint_limited.launch

roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true limited:=true




• Usage with real hardware • Desktop PC • UR onboard PC


• Usage with real hardware # Bringup the real robot

roslaunch ur_modern_driver ur3_bringup.launch robot_ip:=192.168.0.100

# For settingup the MoveIt! Nodes to allow motion planning run:

roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch

# For starting up Rviz with a configuration including the MoveIt! Motion Planning

plugin run:


HUSKY DUAL UR5 MOBILE MANIPULATION DEMO

• Installation all of packages

mkdir -p ~/dual_ws/src

cd ~/dual_ws/src && catkin_init_workspace

git clone https://github.com/DualUR5Husky/husky

git clone https://github.com/DualUR5Husky/ur_modern_driver

git clone https://github.com/ros-industrial/universal_robot

git clone https://github.com/DualUR5Husky/robotiq

git clone https://github.com/DualUR5Husky/husky_simulator

git clone https://github.com/DualUr5Husky/flir_ptu

cd ..


• Install dependencies

– sudo apt-get update

– rosdep install --from-paths src --ignore-src --

rosdistro=kinetic –y

• Build workspace

– catkin_make install

– source ~/dual_ws/devel/setup.bash


• Usage:

– roslaunch husky_gazebo husky_empty_world.launch


• Usage:

• Launch the moveit interface

– roslaunch husky_dual_ur5_moveit_config demo.launch


• Usage:

• Controlling the gripper– rosrun robotiq_s_model_control SModelSimpleController.py _topic:=left_hand/command

– Type “a”, then ”o”, open the gripper


• Usage:• Navigation and Mapping with the Dual UR5 Husky

– # Start the husky gazebo

– roslaunch husky_gazebo husky_playpen.launch

– # Bring up the mapping demo

– roslaunch husky_navigation gmapping_demo.launch

– # Bring up the visualization for it

– roslaunch husky_viz view_robot.launch

Thanks for your attention!

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universal robots · 2019. 10. 13. · universal robot의matlab toolbox 소개하기 • this tool...

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