UR3 Data Capture
Stream data from the UR3 and Optoforce now OnRobot 6 axis force torque sensor.
Installation
Make sure that you update nodejs to the latest version to avoid any issues with bugs in older versions
npm install
Usage
Usage: node streamdata.js <robot ip> <ft sensor ip> [options ...]
Options:
-ftpoll <refresh rate (Hz)> Change the polling rate of the FT sensor. Default is 10Hz
-rbpoll <refresh rate (Hz)> Change the polling rate of the Robot Data. Default is 10Hz
-log <t/f> Enable logging. Default is false
Visit localhost:3000 to see the data in action live.
How it works
The website polls the force torque sensor at the -ftpoll variable (in HZ) and the robot data at -rbpoll in (Hz).
Server API
You can get the data from the server returned in JSON format.
Available Routes
localhost:3000/api/forcetorque
Returns the forcetorque data
localhost:3000/api/force
Returns the forcetorque sensor's force data
localhost:3000/api/torque
Returns the forcetorque sensor's torque data
localhost:3000/api/robotxyz
Returns the robot arm's X Y Z location in space
localhost:3000/robotrotation
Returns the RX RY RZ of the robot arm