I am working on a programm were i need the current coordinates of the tool (x,y,z,xr,yr,zr).
As recommended I am trying to use RTDE also because the Robot-Programm should not be touched.
Sice i want he current coordinates i want, as described on the RTDE guide, “actual_TCP_pose”. Can someone help with that topic.
The part of the code i have trouble with is:
byte sbuffer = new byte; byte buffer = new byte; sbuffer = Encoding.UTF8.GetBytes("actual_TCP_pose"); s.Send(sbuffer); s.Receive(buffer); txt = Encoding.ASCII.GetString(buffer); s.Close();
s = my socket --> Connection is Working. I am using Port 30004 (the RTDE port).
sbuffer = my "Send-Buffer
buffer = recieve Buffer
txt = string with is suposed to contain the Coordinates
Thanks for Help
.NET library done here:
Gets back only the fields your want (all or a part of), you just have to define two class with the RTDE fields requested.
Tried using your code and it always fails on Ur_ControlStart. Why might this be happening?
Yes … the code was not up to date (a small bug inside).
Now it’s OK, get back it on Sourceforge.
Is there an existing command in your implementation to send a command to move the robot to a position using the six axis values? I am looking through and trying to find a send command that allows input of a six double long array.
adds for instance
public double input_double_register_24;
public double input_double_register_25;
and so on in UniversalRobot_Inputs class.