首先需要连接到UR机器人的控制器,通过RTDE接口获取控制权。 import rtde_control import rtde_receive # 创建 RTDE 控制和接收接口实例 rtde_c = rtde_control.RTDEControlInterface("机器人IP地址") rtde_r = rtde_receive.RTDEReceiveInterface("机器人IP地址") 也可以: from rtde_control import RTDEC...
rtde_c = RTDEControlInterface(hostname=robot_ip) rtde_r = RTDEReceiveInterface(hostname=robot_ip) try: if self.verbose: print(f"[RTDEPositionalController] Connect to robot: {robot_ip}") # set parameters if self.tcp_offset_pose is not None: rtde_c.setTcp(self...
python import rtde_control import rtde_receive import time #创建控制和接收对象,IP地址需要替换为你的UR机器人的实际IP control = rtde_control.RTDEControlInterface('192.168.1.162') receive = rtde_receive.RTDEReceiveInterface('192.168.1.162') #确保与机器人的连接是成功的 if control.is_connected()...
When I use the “ur_rtde” Python package, it prompts “RuntimeError: One of the RTDE input registers are already in use! Currently you must disable the EtherNet/IP adapter, PROFINET,...
Can be used from C++ and Python. Relies only on STL datatypes and can be used with various robot frameworks. Switchable register range (FieldBus / PLC [0..23] or external clients range [24..47]) Use it with the UR'sExternalControl UR Cap, download itheresee how to install it on the...
We're building a prototype based around this board. I'll need some deterministic timing for part of it (how much is unclear at this point) and I'd like to use Python to control the slower work. On the Rocketboard website I choose "Start" and it leads me ...
example_control_loop.py - example for controlling robot motion. Program moves robot between 2 setpoints. Copy rtde_control_loop.urp to the robot. Start python script before starting program. example_plotting.py - example for using csv_reader, and plotting selected data. ...
root@ur-201950XXXXX:~# docker ps CONTAINER ID IMAGE COMMAND CREATED STATUS PORTS NAMES d4872950dd74 rtde-native "python rtdeControlL…" 30 minutes ago Up 30 minutes affectionate_blackburn 7b473c4acbce urservice:4.0.1 "./urservice" 3 hours ago Up 3 hours (healthy) 0.0.0.0:8181->8181/...
importrtde_receivertde_c = rtde_control.RTDEControlInterface("192.168.1.162") rtde_r = rtde_receive.RTDEReceiveInterface("192.168.1.162") 一般通过导入这两个包实现 最基本的控制命令 在关节空间中呈线性运动 rad/s bool moveJ(const std::vector<double> &q, double speed= 1.05, double acceleratio...
2.2.找到下载好的rtde库文件夹,在路径ur_rtde-master\examples\下有C++和python的示例代码,主要用于用户了解每种接口的单独使用方法。以"movej_path_with_lend"的C++代码为例: #include <ur_rtde/rtde_control_interface.h> using namespace ur_rtde; int main(int argc, char* argv[]) { RTDEControlInt...