Hello, I want to use the current position of the robot and some other values to calculate a position through my algorithm and send it to the robot. These points should be dense trajectories. What should I do in URCaps? Is XMl-RPC C++ Can it meet the 125HZ of communication? Or is there any other meth…

[image] As the picture shows, should I use communication such as UDP to send the values of other devices to the dashboard, and then send them to the control box through the primary and secondary interfaces to control the movement of the robot?

Hi @anon71656276 , You’re right with the servoj part execute dense trajectories, but XMLRPC will not be able to keep up at 125Hz. You should use the general purpose RTDE registers to feed your targets into the robot program instead. Here’s an example from @anon67600331 [image] Se…

Thank you very much for your reply, but I have some other questions. I want to encapsulate this function into a URCap, so how can Java be combined with RTDE? Can RTDE functions be used in URCapAPI? What should i do, my god

I concluded that I am about to complete the URCap with this function: a target position can be calculated by an algorithm based on the real-time value of the external sensor and the real-time position of the robot and sent to the robot, and the servoj can be used to control the movement of the robot…

Hi @anon71656276 , I would do all of the trajectory calculations in a python daemon and write into the RTDE from there. You could just make a few simple GUI elements in Java to allow control of your underlying daemon. Some of our articles like this one might help you get started: https://plus.univ…

Thank you very much. According to what you said, after reading the basic structure of URCap, combined with my needs, I have new questions: According to what you said, use RTDE in myDaemon to send the calculated target position to the register, and then the controller runs the urp program to read t…

I really look forward to hearing from you, my god!

Hi @anon71656276 , Yes this is correct. Yes the RTDE can ensure that new values will be synchronised at 125Hz. I’m afraid this is a 3rd party library that I have never used. Issues can be posted here: [image] Issues · SDU Robotics / ur_rtde · GitLab A C++ interface for controlling and…

Hello, I may have encountered a problem, can you please guide me？Here is my question link. [image] RTDE sends Servoj control problem SDU ur_rtde Dear UR+ development support, I still have some questions when using RTDE and I would like to ask you all. Thanks in advance! …

URCap servoj xml-rpc c++ realtime pose

URCap Development

anon71656276 August 5, 2021, 5:53am 10

Hello, I may have encountered a problem, can you please guide me？Here is my question link.

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URCap servoj xml-rpc c++ realtime pose

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