Control of UR Robot Using SpaceMouse

Czech/English

Contents

• Introduction
• Installation
• Usage
• Features
• Configuration
• Contributing

Introduction

This project consists of a modular program designed for initializing and controlling a USB device and a Universal Robot (UR) robotic arm. The program reads data from the USB device and processes it to control the movements of the robotic arm.

Installation

Requirements

• Recommended to run on Linux for easy installation of the ur_rtde library.
• Python 3.x
• Required Python libraries:
  • usb
  • ur_rtde

Steps

1. Clone the repository:

   git clone https://github.com/kotrba6/UR3-robot-control-with-SpaceMouse.git
   cd UR3-robot-control-with-SpaceMouse

2. Install dependencies:

   pip3 install -r requirements.txt

Usage

Running the Program

1. Set the parameters in the config.py file:

   • Enter the correct Vendor ID and Product ID of the USB device.
   • Enter the correct IP address of the UR robotic arm.
   • Set the maximum speed for translation and rotation.
   • Set the default position of the UR robotic arm.

2. Run the UR_control.py script:

   python UR_control.py

After running the script, it should be possible to control the robotic arm using the SpaceMouse.

Description of Scripts

• USB_initialization.py: Initializes the USB device using Vendor ID and Product ID, sets up device configuration, and prepares the endpoint for data reading.
• UR_initialization.py: Establishes a connection with the UR robotic arm and moves the arm to the default position.
• UR_control.py: Reads data from the USB device, processes it, and controls the movements of the UR robotic arm accordingly.
• functions.py: Contains helper functions for data conversion and processing.
• config.py: Defines configuration parameters for the USB device and the UR robotic arm.

Features

• Initialization and data reading from the USB device.
• Initialization and control of the UR robotic arm.
• Data processing functions for conversion and filtering.
• Configuration file for easy parameter adjustments.

Configuration

The config.py file contains the following configurable parameters:

• USB_initialization:
  • VENDOR_ID: Vendor ID of the USB device.
  • PRODUCT_ID: Product ID of the USB device.
• UR_initialization:
  • UR_IP_ADDRESS: IP address of the UR robotic arm.
  • DEFAULT_POSITION: Default position of the UR robotic arm.
• UR_control:
  • TRASLATION_COEF: Coefficient for calculating translation speed vectors.
  • ROTATION_COEF: Coefficient for calculating rotation speed vectors.
  • TRANSLATION_MAX_SPEED: Maximum speed for translation [m/s].
  • ROTATION_MAX_SPEED: Maximum speed for rotation [rad/s].
  • DEAD_ZONE_SIZE: Size of the dead zone.
  • MEMORY_LENGTH: Length of the moving average memory.

Contributing

Contributions are welcome! Please follow these steps:

1. Fork the repository.
2. Create a new branch (git checkout -b feature-branch).
3. Commit your changes (git commit -m 'Add new feature').
4. Push to the branch (git push origin feature-branch).
5. Open a pull request.