Software:
Universal Robots Polyscope, Visual Studio (or something similar)
| Software/Package | Link |
|---|---|
| Universal Robots Polyscope | https://www.universal-robots.com/download/ |
| Visual Studio | https://visualstudio.microsoft.com/downloads/ |
Programming Language:
C#, Another Language (Python, C/C++ -> similar implementation as C#)Packages:
C# (.NET Framework 4.6.1)
The project is focused on a simple demonstration of client-server communication via TCP / IP. In this case, it is a collaborative robot Universal Robots UR3 / UR3e (server), which communicates with the client via the C# application. An example of an application is reading (Joint / Cartesian position) and writing data (movement -> linear, joint interpolation, etc.). The application was tested on each of the robot types (UR3 -> real hardware + simulation, UR5, UR10, etc.) E and CB series (simulation using VMware <-> UR Polyscope in Windows).
Writing data is really simple, just create a variable of type STRING in accordance with certain principles, transform the data into a BYTE and send this command to the Server. Data is read using packets on the server (see the file for a description of the packet -> /Client_Data_Interfaces/).
Further information can be found at: REMOTE CONTROL VIA TCP/IP
The application uses performance optimization using multi-threaded programming. Communication (C# application) can be used in Unity3D for digital twins / augmented reality or in other relevant applications.
Sample application in the Unity3D program (Digital-Twin):
Universal Robots UR3 - Unity3D Robotics
The project was realized at the Institute of Automation and Computer Science, Brno University of Technology, Faculty of Mechanical Engineering (NETME Centre - Cybernetics and Robotics Division).
Client (C#) - Repositary [/UR_Robot_data_processing/UR_TCPip_RW_Console_app/]:
[ Main Program (Read / Write Data) ] /Program.cs/
Client (C#) - Repositary [/UR_Robot_data_processing/UR_TCPip_Stream_Data_app/]:
[ Main Program (Collecting data and saving to file) ] /Program.cs/
Data Interfaces - Repositary [UR_Robot_data_processing/Client_Data_Interfaces/]:
[ Datasheet ] /Client_InterfacesV3.14andV5.9.xlsx/
@misc{RomanParak_DT_UR,
author = {Roman Parak},
title = {Data collection from the Universal Robots control unit using the TCP/IP communication protocol},
year = {2020-2021},
publisher = {GitHub},
journal = {GitHub repository},
howpublished = {\url{https://github.com/rparak/UR_Robot_data_processing/}}
}