UR10_robotic_arm_simulation

self_project

In this project, I simulate UR10 robotic on URsim, ur_Gazebo and RVIZ to test impedance control and test moveit.

• Part0 Before everything...

1. Prepare Ubuntu and ROS.
2. Go to this URsim website to install simulator.
3. roscore
4. Download File and catkin_make file.

• Part 1 UR10 moving test
  • In this part, I use UR10 to move on xy plane along with a line.
    1. Open UR10 simulator
    2. Go to check your IP (Use ip addr show)
    3. roslaunch ur_robot_driver ur10_bringup.launch robot_ip:=<YOUR IP>
    4. roslaunch ur_gazebo ur10_impedance_control.launch
    5. rosrun impedance_control_test moving_node.py
• Part 2 UR10 impedance control simulation
  • In this part, I set a virtual surface that have a sine-like surface. We will apply impedance control when UR10 move according to the surface and keep the TCP (tool center point) have 10N force.
    1. Open UR10 simulator
    2. roslaunch ur_robot_driver ur10_bringup.launch robot_ip:=<YOUR IP>
    3. roslaunch ur_gazebo ur10_impedance_control.launch
    4. rosrun impedance_control_test sine_force_node.py This will apply a virtual sine-like force to the UR10 to simulate the sine-like surface and the data we can read is:

    sineforce: current sine force
    feedback: robot move according to the sine force and make another force
    force: TCP current force
    

    5. rosrun impedance_control_test impedance_control_node.py This will start to apply the impedance control according to the sineforce (0~20N) and keep force at TCP as 10N.
  • In my test result (by tuning the parameter), it can control between 9.91 N ~ 10.089 N
• Part 3 UR10 moveit test
  • In this part, I attached Kinect_V2 to the UR10 at TCP in Gazebo and collect data to make octomap IN RVIZ. Then, use the UR10 to do collision avoidance by Moveit in the world which I design and to achieve our desired position.
    1. roslaunch ur10_moveit_config ur10_octomap_demo.launch
    • if you didn't see octomap please press add in RVIZ and find the pointcloud2 and check it subscribe to the right topic then restart
    2. rosrun ur10_moveit_config run_to_goal.py
    • since it is run to designated position, if you want to go to another position please check if it is feasible or not.