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

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更新时间 2024/6/19

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 R2024a?

You can now use ROS 2 to communicate to the UR Series Manipulators from MATLAB using urROS2Node.

Features

The new API urROS2Node enables connection over ROS 2. It maintains the functionality of the existing urROSNode (earlier universalrobot), supporting existing functions, ensuring compatibility and ease of transition to ROS 2. The hardware setup now offers ROS 2 Humble connectivity, complementing existing ROS features.

Control Universal Robots cobots using MATLAB with the Universal Robots ROS Driver packages, offering connectivity for both ROS 2 through the ROS 2 Driver (Humble branch) and ROS via the ROS Driver.
Enable External Control over ROS using MathWorks provided “MATLAB URCap for External Control”
Prototype UR Cobot applications using pre-built algorithms in URSim or Gazebo simulation and verify the same on a hardware using connected I/O.
Deploy your Cobot applications as a standalone ROS node that communicates with UR Cobots.
Design real world robotics applications with vision processing and deep learning in MATLAB and validate them with UR Cobots.

(*) 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:

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.
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.