Universal Robot RTDE tutorial #1 (Where to start the journey) - Subtítulos bilingües
In this video,
I will be sharing with you what I have learned throughout the past few months on how to operate the robot using real-time data exchange.
So, it is important for you to understand that if you are more advanced user, you will
probably not benefit from what I'm going to tell you.
I'm a student who works with the robot for the past few months, and I know the struggle of starting to work with the robot.
It's really hard to understand where to start, what resources to use, how to write your own first program.
It requires a lot of trial and error.
and I was thinking that because no one makes this kind of videos maybe I can
share my insight on this topic and it will help you progress and just make the learning process faster and more enjoyable for you.
So in my example I will be using a
laptop with a Python programming language as my external PC and as a robot I
use universal robot UR5e so few very important points where we're First of all,
the first thing I highly recommend you to do is to type in Universal Robots Forum,
register for it, and just browse what people wrote about.
This is a where I started.
It has a great community, great moderators, admins, and people who are willing to help you.
there are many questions that you can browse and you can probably the same
questions that you have someone had them before you can find the solutions for
them and it will help you to learn faster and to find answers to your problems.
Next thing This is where we will start is to, you need to type in RTDE, Universal Robots, Google, and this website will pop out.
This website basically describes the whole communication, how sockets work, etc, etc.
The fact that thanks to the real time, that exchange.
you are able to communicate with the robot in 500Hz.
You can send packages and receive packages in 500Hz.
So, the first thing you will need to do after opening this website, you scroll to the bottom and you will find here attached files.
The second attached file is called RTD 2.6.
release.zip.
This is the name of the file as of today, however this might change with the time if the new release will come.
What you want to do is to download this and open it in your Python interpreter.
I'm going to be using a charm, so let's go to PyCharm right now.
As you can see on the left side, I opened the project, and I opened the files that we downloaded.
We have two main folders, one is called examples, another one is called RTD.
RTD folder contains different scripts that form most are not really needed,
but RTDE.py basically contains all the functions, methods that allow for communication with the robot, meaning sending inputs, sending et cetera, et cetera.
I personally did not play too much in
this with this script what is important for you as for a person starting is
that over here you have defined state which you can also access to check if the
robot is disconnected connected started on post also an important thing.
In the line 141 you can find a function called send output setup and if you want to be able to send outputs in 500 Hertz meaning every 0.002 seconds instead of in 125 you
can change over here the frequency to 500 this is all depends on whether it is
to be able to send messages in higher frequency or not.
I think it's worth mentioning, because this is something I didn't know for a while, and it took me a while to find this information.
Now to the main...
Going into examples folder, we have two files that we will be looking in.
First one is called control loop configuration.
Control loop configuration.xml file allows you to define what you are interested in.
What do I mean by that?
Let's go from top to bottom.
So thing we can see we have recipe key state.
So over here we can see the states that we are interested in,
meaning what do we want to read, what do we want a robot to send us so we can look at it.
So for example, we actual queue, meaning actual joint values.
So we have a vector 60, meaning it has six positions.
So in my case,
because I have a six degree of freedom robot,
by using this state, by reading that state, I will be able to read the actual joint position.
We have many,
many other and if you want to define them what do you need to do is to go to the same
website from which you downloaded the Python initial package and you can find over here scrolling up It basically gives you all the available names,
types, as as comments about when do we use them and what do they do.
From here you can copy paste them over here in the same format as given,
and this basically will later allow you in your program to read the description.
that you need for your application.
We will learn how to do it in next tutorial.
Now coming to the recipe key equals set point.
Here, basically if we want to exchange a data between computer and a robot, in the first part we defined
recipes that allow us to send packages from robot to computer.
In this part we will learn how to send data from computer to the robot.
So in order to do it we need to define registers which are going to store the of the desired type.
So let's say we want to send a number 2.54 to a certain register.
So in this case we need a type double or float and we need to define this kind of a register
in order for it to be available for sending the data that we want to send.
Again, those recipes are also defined in the same website, not in the output, but we scroll
a little bit lower till we find, or maybe sorry, higher till we find inputs over here, robot controller inputs.
And example, the one we could see before input double register x, where x is defined in some range.
So again this is basically the Bible of RTDE,
you suppose to know it really well and because here you'll find most of the recipes,
most of the useful information for your We also have a recipe called a watchdog,
I'm not going to talk about it here if you have any questions,
feel free to leave comments and I will try to explain over there.
The next file, after defining the recipes, meaning the inputs and outputs that we want We are interested in we go to example control loop.
This is basically the first program that's provided for us by universal robots I will talk about it in the next video and we will go step by step trying to understand at least
the basic functionality so that you can modify it for your own need.
You can validate that the frequency of communication is correct and hopefully write your own application for the robot.
And based on that you will be able to learn and start adding more and more complicated
functions that will just make your program bigger and it will be able to do what you want it to do.
I know I'm not professional,
and this is my first video,
but I hope that at least for the beginners,
it will give you a point to start, so good luck and hopefully see you in the next video.
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