ryanpennings/rtde_ur

Real Time Data Exchange streaming for universal robots. (Streams points to robot, for running large files)

rtde_ur's Issues

Robot motor currents and other RTDE outputs

Hello,

I am working on the robot (UR10 CB3 series) data received through RTDE for quite a few months now. My objective is to understand the source of the values for the outputs received through RTDE. as well as the meaning and relationship between the outputs.

For example, the values under “joint_temperatures_0” are received from the temperature sensor present in the “joint_0” of the robot.

I already have found out, that the output “joint_control_ouput_0” is the target current for the motor in “joint_0”. This is true because the values under “actual_current_0” and “joint_control_output_0” are the same. Whereas there is another output called “target_current_0”, for which there is not much information provided and therefore I have the following questions:

1. What is the meaning for “target_current_0”?

2. What is the theoretical relationship between “target_current_0”, “actual_current_0” and “target_control_output_0” (w.r.t the joint motor)? (I would be glad to have a look at some detailed documentation if anybody have come across it so far)
   Apart from the above questions, I also have another set of the following question:

3. Are the values under “actual_TCP_force_0” calculated or estimated from integrated sensors (for CB3 series)?

4. Are the values under “actual_tool_accelerometer” from an accelerometer at TCP?

5. How are the values under “target_moment” calculated? if these are calculated using inverse dynamics (https://en.wikipedia.org/wiki/Inverse_dynamics), what will be the linear acceleration w.r.t the output data from RTDE?

6. Are the values under “target_TCP_speed” and “actual_TCP_speed” calculated using the typical time derivative of “target_TCP_pose” and “actual_TCP_pose” respectively or using the Jacobian matrix?

7. Are the values under “tool_temperature” coming from a separate temperature sensor (apart from the temperature sensors at each robot joint) at the tool head?

Thank you in advance

printing.txt and tcp.txt missing

Hi Ryan, thank you for sharing this interface!
I am trying to run it on URSim, everything seems to work but the phyton program return an error related to the file "printing.txt". I checked in the code and it seems it will look also to "tcp.txt". These files are not present in the cloned repository.
I imagine these are the list of points and the tcp configuration.

Could you please provide some indication on how to create these files?
Thank you again!

printing and tcp file missing

Hello Ryan,
I am currently using your code to fetch data from my UR5 robotic arm. Could you please provide me with some direction on how to make the tcp and printing files.