Questions tagged [ur10]

The tag has no usage guidance.

Filter by
Sorted by
Tagged with
0 votes
0 answers
27 views

Need help on a basic python script that moves the robot through joint movements

I'm currently trying to make the UR10 robot move through ROS2 and I need help doing it. Current setup: Ubuntu Linux - Jammy Jellyfish (22.04) ROS2 Rolling Ridley Universal Robots ROS2 Driver (...
AxelD's user avatar
  • 1
0 votes
0 answers
23 views

Calculate UR10e robot payload

I am trying to program a pick-and-place task with a UR10e robot but I am having a problem with the payload, I am trying to move the robot as fast as possible to complete a cycle in less than 6 seconds,...
Diego Carvajal's user avatar
0 votes
1 answer
14 views

How to add a tool from a STL file

Hello, I'm new at ROS (kinetic 1.12.17, Ubuntu 16.04 LTS) and I want to know how can I add a tool to a robot, having the tool in STL format. I'm working with the Robotnik's RB-Kairos robot with the ...
user avatar
0 votes
1 answer
9 views

Trac IK cannot computeCartesian path at all

I decided to give Trac IK a shot after urkinematics solver was too hard to implement on 2 ur10 robots. It's "fine" I guess, aside from not being able to find IK once in a while but it is ...
user avatar
0 votes
2 answers
29 views

UR10 Jerky Movements with the Universal_Robots_ROS_Drivers

To Whom It May Concern, I'm trying to use the ur10 CB series with polyscope version 3.12, Universal_Robots_ROS_Driver, ROS-Kinetic, Ubuntu 16.04. I do not want to use moveit to control the hardware. I ...
user avatar
0 votes
1 answer
11 views

Does move_group.plan(sampleJointTargetPose) implement MoveJ by default?

I am using a UR10 real robot. I am not using Universal_Robots_ROS_Driver for robot control. I am using ...
user avatar
0 votes
1 answer
11 views

How can I use the universal robot package with gazebo?

I'm trying to use the universal_robots_ros_driver ( https://github.com/UniversalRobots/Universal_Robots_ROS_Driver) package with a ur manipulator. However, I can't find any documentation regarding how ...
user avatar
0 votes
1 answer
8 views

How can I publish commands to the UR10/UR5?

Using the arm_controller/command topic, how can I publish valid commands to the UR10/UR5? Is there a list of example commands to send. I'm trying to follow https://github.com/ros-industrial/...
user avatar
0 votes
1 answer
5 views

Simulation deteriorates over time, robot arms do not go to the same position

Hi! I'm currently running a ROS network (ROS Melodic, Ubuntu 18.04) using the ARIAC 2019 simulation interface. I have the competition going on a loop, and two UR10 arms that run on independent threads....
user avatar
0 votes
1 answer
3 views

Vrep to generate trajectory

Hi all, i'm new in ros and i'm trying to move my simulated UR10 in gazebo. What i'm doing is setting up the same scene in Vrep (now CoppeliaSim), where also i generate a set of points of my target ...
user avatar
0 votes
1 answer
4 views

tf listener does not see specified links in URDF file

Hi, i have been working with a UR10 and need to have the position of the TCP in real time. In a previous post, people recommended me to build a TF listener and when i got that working i could indeed ...
user avatar
0 votes
2 answers
2 views

xyz position tracking of UR10

Hi all, I am currently working on a UR10 robot that has to do a certain contact operation on parts. i have the trajectory execution working and it executes the operation almost flawlessly aside from ...
user avatar
0 votes
1 answer
9 views

Connecting tool to UR10 URDF

HI, i am working on an seallant application with an UR10 robot but cannot seem to get the URDF files connected. The code below describes my seallant tool that i would connect to the UR with the ...
user avatar
0 votes
1 answer
6 views

Moveit! self_filter from octomap working for robotiq gripper but not UR5/UR10 body

System: Ubuntu 16.04 / ROS Kinetic / Nuvo-5095GC-022 / Universal Robots UR10 Packages: freenect_stack, geometry2, libfreenect, perception_pcl, trac_ik, universal_robot, ur_modern_driver Hi, Some ...
user avatar
0 votes
1 answer
1 view

Got controller gains for six-axis manipulator?

Do you have working PID gains for the effort_controllers/JointTrajectoryController of a six-axis manipulator that I could use as a starting point for tuning the ...
user avatar
0 votes
1 answer
1 view

Architecture using `ur_modern_driver`

I'm building an architecture for my application and I'd like to know if the functionality represented in the ur_modern_driver part (image below) is correct. This is ...
user avatar
0 votes
1 answer
2 views

Action completion from UR controller

Does the UR controller (CB3/UR10) provide any feedback (such as move complete/acknowledgement ) given trajectory commands from ur_modern_driver through ROS or UR ...
user avatar
0 votes
1 answer
6 views

Specifying new trajectory when old trajectory already running- `ur_modern_driver`

I have a trajectory running on the UR10 (in URSim) with 3 points. I'd like to interrupt and send new trajectory commands. I get an error: Goal start doesn't match current pose I looked into : https:/...
user avatar
0 votes
1 answer
2 views

Specifying TCP velocity using ur_modern_driver

The trajectory planner of the ur_modern_driver states: "This method does cubic interpolation between two points, given the absolute time between the, the time ...
user avatar
0 votes
1 answer
7 views

Mobile arm simulation behaves strangely when adding ros_control plugin for arm

Greetings. My model combining a simple mobile base with the UR10 acts strangely when I add which is needed for controlling the UR10 joints. The strange behavior is that the mobile robot resists ...
user avatar
0 votes
1 answer
4 views

How to set link(end_effector) pose?

Hi, I'm working with the ur10 model and I'm trying to get a way of controlling it by setting a pose for the end-effector. However I have no clue on how to do it. I tried the tutorial of movit ...
user avatar
0 votes
1 answer
9 views

Move ur10 with ROS topic

Hi, with my project I'm trying to move the ur10 robot and I've attached a 3-finger gripper at the end-effector. I've already found some documentation on how to move it giving values to the joints, ...
user avatar
0 votes
1 answer
5 views

Jerky movements of UR10 robot with ur_modern_driver and MoveIt

We have a problem with sometimes jerky moves of UR10 (and UR3 before). We are controlling our UR10 robot via MoveIt + ur_modern_driver combination. All works generally well, trajectories are planned ...
user avatar
0 votes
1 answer
7 views

ERROR: cannot launch node of type [controller_manager/controller_manager]: can't locate node [controller_manager] in package [controller_manager]

Hi all. I installed the university_robot package and roslaunch ur_gazebo ur10.launch but there is an error output: ...
user avatar
0 votes
1 answer
12 views

No completition of Cartesian Path using Moveit

Hello together, I have a question regarding planning with a UR10 arm and Moveit. I try to compute a Cartesian Path around an object. And it frequently happens that the robot can not successfully ...
user avatar
0 votes
1 answer
1 view

UR10 state/real time interface

Hi everyone, I work on an UR5 with ROS Indigo and the following in my workspace: universal robot: https://github.com/ros-industrial/universal_robot/tree/indigo modern driver: https://github.com/...
user avatar
0 votes
1 answer
5 views

Define end-effector pose by point and vector

Hi all, I am using a UR10 with Moveit! for motion planning (move group interface C++). I want to align my end-effector with a vector in space. I read a lot about quaternions and rotation in 3d space, ...
user avatar
0 votes
1 answer
22 views

Ignored joint limits by MoveIt!

Hello, I am using MoveIt! for a simulated UR10 in Gazebo. When I try to tell the MoveGroup to move the end effector to a position (x,y,z,w), MoveIt! ignores the joint limits which are set in the ...
user avatar
0 votes
1 answer
1 view

ROS Answers SE migration: UR10 project

Hello all, I need a structure for my project. The aim is that a 3D camera tells a UR10 the location of an object (coordinates), then it moves its arm to the object and performs a circular path around ...
user avatar
0 votes
1 answer
3 views

industrial_extrinsic_cal. Instructions for camera-robot calibration

Hello all; I need to calibrate the robot base of a UR10, with an Asus Xtion camera monitoring the workspace in a fixed position. I have found the industrial_extrinsic_cal package for ROS industrial ...
user avatar
0 votes
1 answer
2 views

Attaching collision object to robot gets crooked

I'm attaching a tool as a collision object to the robot (UR10), so far so good. But when it's attached the tool gets crooked relative to the robot. Please take a look at the pictures and code below. ...
user avatar
0 votes
1 answer
5 views

UR5/UR10 typical use cases

Hi all, We are currently reviewing the UR5 arm specifications to make sure it can cope with all our requirements and later invest and buy one arm. One criterion on which we focus is the possibility ...
user avatar
0 votes
2 answers
4 views

Real vs simu params and gains (behavior difference)

Dear all, I am wondering up to what extent the parameters and gains of a real robot are re-usable on a simulation (and vice versa: up to what extent the parameters and gains of a simulated robot are ...
user avatar
0 votes
1 answer
9 views

Dual arm UR10 connection with universal robot stack

Hey, I'm working with two ur10 arms. i can easily set up a connection with the universal robot stack from github using the driver.py with one robot arm. I'm using the ipa320 fork (github.com/ipa320/...
user avatar