UR30 RTDE

This project provides a wrapper class in Python to communicate with the UR robot using RTDE

Dependency

This project uses the UR RTDE interface provided by the UR robot.

pip install ur-rtde

Examples

This repository provides examples such as joint control, tool control, servoing, and keyboard/joystick teleoperation. Check out the scripts in examples folder for more details.

RTDE API

The wrapper class RTDE is provided to communicate and control UR robots with RTDE interface. The complete RTDE API is provided in the official documentation. This class includes the most commonly used ones:

Receive Interface

• get_joint_values()
• get_joint_velocities()
• get_tool_pose()
• get_tool_speed()

Control Interface

Joint Space Control

• move_joint()
• move_joint_trajectory()
• speed_joint()
• servo_joint()

Tool Space Control

• move_tool()
• move_tool_trajectory()
• speed_tool()
• servo_tool()