How to use Robotics Sytem Toolbox functions on real robot?

I will control my universal robot (ur16e) via the RTDE interface in Matlab, and I would like to know if is it possible to use the functions in the Robotics System Toolbox on the real robot? How that could be possible?

Thank you in advance.

-Lara

Answer 1

[Deep Parikh]

Hello Lara,

Though it is possible to control the UR robots via RTDE using MATLAB, the setup process involves certain additional steps and we do not officially support the RTDE interface right now. If you have already established a connection with MATLAB and UR manipulator using RTDE, you can use the motion planning and trajectory generation tools from Robotics System Toolbox to calculate joint configuration or joint trajectory to acheive desired cartesian control.

With the Robotics System Toolbox™ Support Package for Manipulators, we have added a functionality to control the simulated UR manipulator in Gazebo or URSim using MATLAB and ROS interface. You can also refer to the Simulate a Universal Robots UR5 Using MATLAB and Gazebo for Glue Dispensing on a Windshield example to know more about usage of Robotics System Toolbox™ tools for motion planning. Even though we have not verified the functionalities of universalrobot object, available in the support package, with actual hardware, you can refer to this page for some considerations for hardware connection.

[Lara]

Hey Parikh,

thank you very for your reply!

-Lara

[HieuKuteVN18]

Hello Mr.Deep Parikh. I am now a uni student ,and i have a subject project about using Matlab to control real Yaskawa robot GP4,yrc1000micro.You can explain how i can start pls.Tks so much !