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ros-industrial / ur_modern_driver

(deprecated) ROS 1 driver for CB1 and CB2 controllers with UR5 or UR10 robots from Universal Robots
Apache License 2.0
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how to stop the ur5e when it is encountered with a huamn body #298

Closed Jason-Zhou1 closed 5 years ago

Jason-Zhou1 commented 5 years ago

Hi all,

I am running a ur5e robot arm in Kinetic on Ubuntu 16.04. I want the arm to stop if it is encountered with a human body. For example, when a human is pushing the moving arm stop it. I believe it is a function of safety as a cobot, but I don't know how to set this function. May anyone be able to help me out?

Thank you!

gavanderhoorn commented 5 years ago

This doesn't sound like a question to submit to the issue tracker of a ROS driver. More something to ask an integrator or an industrial robotics forum.

If you're specifically wondering how to do this with ROS, then my answer (right now) would be: don't. Especially not if it needs to be safety-rated.

ROS 1 was not made for this type of applications.

I believe it is a function of safety as a cobot,

exactly, so use the functionality provided by the controller for this.

but I don't know how to set this function

then I would suggest looking at/in the manuals that document those features, ask your distributor/vendor or an integrator.

gavanderhoorn commented 5 years ago

As this is not something actionable (in the context of the package hosted in this repository) I'm going to close the issue.

Feel free to keep commenting on it of course.