MATLAB Toolbox for UR Manipulators
Description
This toolbox interfaces industrial manipulators from Universal Robots with MATLAB. The toolbox allows users to interface manipulators leveraging the URX Python library . 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 UR3, UR5, or UR10 manipulator with controller
- Python v. 3.4.4
- MATLAB R2014a or later
- Simulation Interface
- MATLAB R2014a or later
Documentation
- UR Toolbox Quick Reference Guide [COMING SOON]
- Universal Robots UR3 User Manual
- Universal Robots UR5 User Manual
- Universal Robots UR10 User Manual
- Universal Robots URScript Programming Manual (v3.2)
- Universal Robots Software (PolyScope) Manual (v3.2)
First Time Installation Instructions
Python Installation
- Download Python v. 3.4.4
- Run the Python installer as an administrator
- Use the default installation directory "C:\Python34" (assuming Windows OS)
MATLAB Installation
- Download URToolbox
- Unzip "URToolbox.zip" (or alternate filename/version)
- Open MATLAB as an administrator
- Change your MATLAB Current Directory to the location containing contents of the unzipped URToolbox
- Use the "Browse to folder" icon to change the Current Directory
- Do not use the "Add-Ons" functionality available in later versions of MATLAB
- Run "installURToolbox"
URToolboxScript Installation
- Download WinSCP v. 5.7.7 or latest version
- Create an FTP connection with the UR system of interest
- Username: root (UR default username)
- Password: easybot (UR default password)
- Host: IP address of connected UR that can be found or changed using the following steps
- Power on the UR using the power button on the teach pendant
- From the home screen, select "Setup Robot"
- Select "Setup Network"
- Record or update the IP Address
- Port: 22
- Upload "URToolboxScript.script" from the unzipped "URToolbox.zip" directory (see above) to the "/programs" directory on the UR
- Depending on the UR model, the default directory when establishing the FTP connection may be "/root"
- The "/programs" directory can be found in the parent directory of "/root"
- Load the script using the teach pendant and save the compiled URP file when prompted
- Power on the UR using the power button on the teach pendant
- From the home screen, select "Program Robot"
- In the Use Template panel, select "Empty Program"
- In the Program Tree on the left side of the screen, select "<empty>"
- Select the "Structure" tab
- Select the "Advanced" tab
- Select "Script Code"
- Select the "Command" tab
- From the drop-down menu to the right of the screen, select "File" (the default value is typically "Line")
- Select "Edit"
- Select "Select File"
- Choose "URToolboxScript.script" and select "Open"
- Select "Save and Exit" (if available), or "Save" followed by "Exit"
- From the File menu, select "Save As" and save the file as "URToolbox.urp"
Update Instructions
- Open MATLAB as an administrator
- Run "URToolboxUpdate"
Download UR ToolBox
- Download URToolbox
Known Issues
- This toolbox has not been tested with Mac or Linux OS.
- URX class only includes feedback from the manipulator.
- Manipulator link lengths for forward/inverse kinematics and Jacobian calculation are currently assumed due to URX Python library limitation.
- URX Python library does not fully parse the UR real-time/MATLAB interface messages.