UR Module

Overview

The ur_module repository is a comprehensive package that includes a UR driver and a REST node for Universal Robots (UR). This module is designed to provide a robust and flexible interface for controlling UR robots, offering a variety of control interfaces for different use cases. The repository supports initialization via the UR dashboard, motion control using URx, and end-effector management.

Features

UR Driver Package

The UR driver package in this repository encompasses various remote interfaces to enable comprehensive control over the UR robot. The supported interfaces include:

1. Initialization via UR Dashboard:

   • Seamless integration with the UR dashboard for easy initialization.
   • Dashboard Server features include loading and playing URP programs, power on and off, querying robot status, and setting operational modes.

2. Motion Control using URx:

   • URx features provide precise control over robot motion.

3. End-Effector Management:

   • Support for a variety of end-tools, including:
     • Robotiq Gripper (Modbus TCP/IP)
     • TriContenent Pipette (RS485)
     • Robotiq Screwdriver (Interpreter Socket)
     • Robotiq Vacuum Gripper (Interpreter Socket)
     • OpenTrone Pipette (PyEpics)
     • ATI Tool Changer (PyEpics)

Dashboard Server Features

Seamless integration with the UR dashboard for easy initialization. The dashboard server facilitates the following operations:

• Load and play URP programs.
• Power on and off the robot.
• Query the robot status.
• Set the operational mode.

URx Features

URx features provide fine-grained control over robot motion.

End-Tools Integration

Support for a variety of end-tools, including communication protocols such as TCP/IP, RS485, Interpreter Socket, and PyEpics.

• Robotiq Gripper: TCP/IP
• TriContenent Pipette: RS485
• Robotiq Screwdriver: Interpreter Socket
• Robotiq Vacuum Gripper: Interpreter Socket
• OpenTrone Pipette: PyEpics
• ATI Tool Changer: PyEpics

AI Camera Integration

The repository includes AI camera support for real-time object detection and recognition. The detected target locations can be seamlessly transitioned to the UR robot for further action.

REST Node

The role of the REST node in this repository is to establish communication between UR robots and the higher-level system of WEI (Workflow Execution Interface). This node acts as a bridge, enabling seamless integration of UR robots into a broader robotic ecosystem.

Installation

mkdir ~/wei_ws/src
cd ~/wei_ws/src
git clone https://github.com/AD-SDL/ur_module.git
cd ~/wei_ws
colcon build
source install/setup.bash

Usage

Detailed information on how to use the UR driver and ROS node is available in the User Guide.

Contribution

Contributions are welcome! If you have ideas for improvements or find any issues, please open an issue or submit a pull request.

License

This repository is licensed under the MIT License - see the LICENSE file for details.

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