Skip to content

Latest commit

 

History

History
18 lines (14 loc) · 983 Bytes

README.md

File metadata and controls

18 lines (14 loc) · 983 Bytes
Raw

URcaps external control

Package for external control of a UR robot. It supports UR3, UR5 and UR10 of CB3 as well as the e-series.

prerequisites

As this URCap is using swing to implement the user interface, the URCap library in version 1.3.0 or higher is required. Therefore the minimal PolyScope versions are 3.7 and 5.1.

To enable external control of a UR robot from a remote PC, this URcap must be installed on the UR robot and the ur_rtde_driver has to be installed on the remote PC.

usage

  • In the Installation tab of Polyscope:
    • Adjust the IP address of your robot in the Installation tab of Polyscope (this step might be unnecessary in simulation).
  • On the remote PC:
    • Launch the suitable launch file for UR3/UR5/UR10 and CB3/e-series.
  • In the Program tab of Polyscope:
    • Add this URcap to a program by selecting it from the side menu under the tab URcap.
    • Execute the program by pressing the play button in the Program tab of Polyscope.