Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators

作者: MathWorks Robotics and Autonomous Systems Team
Connect and control Universal Robots UR Series manipulators using MATLAB and Simulink
5.0
(2)
373.0 次下载
更新时间 2024/9/11
Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators
Using the Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators, you can prototype algorithms and perform simulations using rigid body tree environment, Gazebo and URSim simulators. Also, this support package allows you to connect with Universal Robots hardware to test and validate your algorithms. For urROSNode, you can also automatically generate C++ code and create a standalone ROS node to deploy on the Ubuntu Linux host machine.
What is new in R2024b?
You can now use Real-Time Data Exchange (RTDE) protocol to communicate to the UR Series Manipulators from MATLAB using new urRTDEClient object.
Features
The new API urRTDEClient for Universal Robots UR Series Manipulators enables you to control a UR Series cobot using data exchange over the Real-Time Data Exchange (RTDE) protocol.
  • Select RTDE as one of the connectivity options in the Hardware Setup screen.
  • Follow the instructions to set up the required configuration for connecting to either the URSim simulator or the UR Series manipulator hardware.
  • Connect to a UR Series cobot over RTDE,
  • Use the new urRTDEClient object that establishes a TCP/IP connection from MATLAB to the UR controller.
(*) for additional information please refer to https://www.mathworks.com/universal-robots-cobots.html
Installation
Step 1: MATLAB installation
Start the installation process by visiting the MathWorks official installation instructions webpage through this link.
During installation, please select the following products:
  • MATLAB
  • Robotics System Toolbox
  • ROS Toolbox
Step 2: Support Package Installation
To install the Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators, please follow the detailed steps provided on this link. After installing the Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators, follow these instructions:
Post-Installation Options:
  1. Setup Now (Recommended): On clicking 'Setup Now' this initiates guided hardware setup screens immediately after the support package installation concludes. - Follow the on-screen instructions for ROS package installations and network configurations.
  2. Setup Later: On choosing the 'Setup Later' option, it closes the installation window without starting the hardware setup. - Hardware setup can be initiated anytime from the Add-Ons Manager, as described in the “Hardware Setup” section of the provided link.
*Note: If you have download or installation problem, please contact - Technical Support
Supported Hardware and Interface
This support package supports below mentioned hardware using ROS interface.
  • Universal Robots E Series Manipulators
  • Universal Robots CB Series Manipulators
*Note: UR Polyscope version tested is 5.11.1.108318 for UR E Series
Documentation
Getting Started Example
Application Examples
Videos
Notes
1. This hardware support package is functional for R2022b and beyond.
2. Use ‘’Comments and Ratings’’ section to share your experience and rate the support package. For installation issues with this support package or for any technical queries, please contact MathWorks Technical Support.
MATLAB 版本兼容性
创建方式 R2022b
兼容 R2022b 到 R2024b 的版本
平台兼容性
Windows macOS (Apple 芯片) macOS (Intel) Linux

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