MATLAB Toolbox for e-Series UR Manipulators leveraging Qt

Description

This toolbox interfaces e-Series industrial manipulators from Universal Robots with MATLAB. The toolbox allows users to interface manipulators leveraging a Qt TCP/IP pipeline developed . This toolbox also includes visualization tools, forward and inverse kinematics functions, Jacobians, and a URScript control approach allowing users to smoothly command UR manipulators along desired trajectories. 

Requirements

• Hardware Interface
  • Universal Robots model UR3e, UR5e, or UR10e manipulator with e-Series controller
  • MATLAB R2019a or later
• Simulation Interface
  • MATLAB R2019a or later

Documentation

• URQt Toolbox Quick Reference Guide [COMING SOON]

First Time Installation Instructions

1. Download URQtToolbox 
2. Unzip "URQtToolbox.zip" (or alternate filename/version)
3. Open MATLAB as an administrator
4. Change your MATLAB Current Directory to the location containing contents of the unzipped URToolbox
   1. Use the "Browse to folder" icon to change the Current Directory
   2. Do not use the "Add-Ons" functionality available in later versions of MATLAB
5. Run "installURQtToolbox"
6. Run "ur = URQt;"
7. Select the minimized "Rosette Vx.x" window (e.g. "Rosette V1.2")
8. Select the "Network" menu and click "Net Address"
9. Input the static IP address for your e-Series UR manipulator
10. Click "OK"
11. Click "OK"
12. Close MATLAB

Update Instructions

1. Open MATLAB as an administrator
2. Run "URQtToolboxUpdate"

Download UR ToolBox 

• Download URQtToolbox

Known Issues

• This toolbox has not been tested with Mac or Linux OS.
• URQt feedback is limited to telemetry returned from the UR RTDE
• To recover lost communication with the robot:
  • Clear the URQt object (e.g. "clear ur" if the object was declared using "ur = URQt")
  • Re-initialize the object (e.g. "ur = URQt")