Universal Robots Forum

Multiple waypoints commanded using RTDE interface

Hi all, I’m new to the using the UR robots and I’m trying to program some robot behavior through the RTDE interface. I have used the examples to figure out how to read and set the register values as well as get the robot moving using the values written to the registers.

I would now like to try and move the robot through a series of waypoints with a blend radius between each one. Looking at the available input registers, I see that there are only 48 doubles available. Given that each waypoint requires 6 doubles there is only space for 8 pose variables on the controller registers. Does this mean that I can only have the robot move to a maximum of 6 positions before having to stop completely or would there be some way to increase that number.

I was wondering if it would be possible to set something up so that I could reuse some of the registers to make it go through more than 8 positions. Some sort of FIFO where I could update some of the registers as it is running and loop back to see the newly updated positions. For all these intermediate positions it would be doing a blended move and then for the last one it would do a “stop at this point.”

As a side note, I have been able to achieve this functionality by formatting and sending a multi-line command over the 30001 port but I am hoping to do this through the RTDE interface because I’ve been told it is the more robust way to control the robot.

Thanks in advance,

Eric

Hi,

i think using XML-RPC with a daemon is more suitable for your application :wink:

Thanks for the speedy reply!
Sounds like what I’m trying to setup isn’t a typical use case of RTDE! I’m going to stick with the multiline commands over the primary client interface for now since I already have that implemented but will take a look at XML-RPC in the future.