universalrobots

README

ur5e referencs

• https://www.universal-robots.com/articles/ur/remote-control-via-tcpip/
• https://s3-eu-west-1.amazonaws.com/ur-support-site/32554/scriptManual-3.5.4.pdf

Documentation

Overview

Package universalrobots implements the UR arm from Universal Robots.

Index

• Variables
• func MakeModelFrame(name string) (referenceframe.Model, error)
• type Config
  • func (cfg *Config) Validate(path string) ([]string, error)

Variables

var Model = resource.DefaultModelFamily.WithModel("ur5e")

Model is the name of the UR5e model of an arm component.

Functions

func MakeModelFrame

func MakeModelFrame(name string) (referenceframe.Model, error)

MakeModelFrame returns the kinematics model of the ur arm, also has all Frame information.

Types

type Config

type Config struct {
	SpeedDegsPerSec     float64 `json:"speed_degs_per_sec"`
	Host                string  `json:"host"`
	ArmHostedKinematics bool    `json:"arm_hosted_kinematics,omitempty"`
}

Config is used for converting config attributes.

func (*Config) Validate

func (cfg *Config) Validate(path string) ([]string, error)

Validate ensures all parts of the config are valid.