UR10e control architecture

Now that I am able to control the arm of the robot as well as the gripper, it is now time to create an interface that can be used to control both the arm and the gripper. 

This interface should be completely agnostic to any use case that is being developed.
Since gripper control and arm control are two independent procedures that can be running simultaneously, this interface should put these two controllers at the same level.
Following this philosophy, any job that I want to develop in the future will be able to call any one of these controllers by the same method!

Here we can see the structure of the first complete job. 

In this case, an object that is continuously being tracked through a RGB-D camera is followed by the robot arm and then is picked up and stored in a box. 

As we can see, both controllers (arm and gripper) are at the same level, and the job1 ROS node is communicating with both of them simultaneously.

The gripper controller is described in this previous post.

The arm controller is described in this previous post.

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