Implementation of servoj() using RTDE in python
control_loop_configuration.xml: contains list of the registers we want to read and overwrite
min_jerk_translation.py: class containing min_jerk trajecotry for position only in cartesian space, as well as small example usage function
https://mika-s.github.io/python/control-theory/trajectory-generation/2017/12/06/trajectory-generation-with-a-minimum-jerk-trajectory.html
min_jerk_servoj.py: main script responsible for communication with the robot. It communicates with packages stored in rtde folder so make sure you download all the required files.
polyscope: contains urp file that can be uploaded to the robot rtde: contains all the files needed for RTDE communication taken from: https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/
After downloading the rtde folder as well as all the python packages in this repositiory upload the urp. file to the robot.
- Run the urp file on the robot till a "Continue" button appears
- Run the python script
- Click "Continue" on the polyscope
Below you can find the simplified description of our task as explained in the youtube video:
