Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators

Connect and control Universal Robots UR Series manipulators using MATLAB and Simulink

Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators

Using the Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators, you can prototype algorithms and perform simulations using rigid body tree environment, Gazebo and URSim simulators. Also, this support package allows you to connect with Universal Robots hardware to test and validate your algorithms. For urROSNode, you can also automatically generate C++ code and create a standalone ROS node to deploy on the Ubuntu Linux host machine.

What is new in R2024b?

You can now use Real-Time Data Exchange (RTDE) protocol to communicate to the UR Series Manipulators from MATLAB using new urRTDEClient object.

Features

The new API urRTDEClient for Universal Robots UR Series Manipulators enables you to control a UR Series cobot using data exchange over the Real-Time Data Exchange (RTDE) protocol.

• Select RTDE as one of the connectivity options in the Hardware Setup screen.
• Follow the instructions to set up the required configuration for connecting to either the URSim simulator or the UR Series manipulator hardware.
• Connect to a UR Series cobot over RTDE,
• Use the new urRTDEClient object that establishes a TCP/IP connection from MATLAB to the UR controller.

(*) for additional information please refer to https://www.mathworks.com/universal-robots-cobots.html

Installation

Step 1: MATLAB installation

Start the installation process by visiting the MathWorks official installation instructions webpage through this link.

During installation, please select the following products:

• MATLAB
• Robotics System Toolbox
• ROS Toolbox

Step 2: Support Package Installation

To install the Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators, please follow the detailed steps provided on this link. After installing the Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators, follow these instructions:

Post-Installation Options:

1. Setup Now (Recommended): On clicking 'Setup Now' this initiates guided hardware setup screens immediately after the support package installation concludes. - Follow the on-screen instructions for ROS package installations and network configurations.
2. Setup Later: On choosing the 'Setup Later' option, it closes the installation window without starting the hardware setup. - Hardware setup can be initiated anytime from the Add-Ons Manager, as described in the “Hardware Setup” section of the provided link.

*Note: If you have download or installation problem, please contact - Technical Support

Supported Hardware and Interface

This support package supports below mentioned hardware using ROS interface.

• Universal Robots E Series Manipulators
• Universal Robots CB Series Manipulators

*Note: UR Polyscope version tested is 5.11.1.108318 for UR E Series

Documentation

• Main page
• Setup and Configuration - ROS 2
• Setup and Configuration - ROS
• Examples
• Functions

Getting Started Example

• Getting Started with Connecting and Controlling a UR5e Cobot from Universal Robots using RTDE Interface
• Getting Started with Connecting and Controlling a UR5e Cobot from Universal Robots using ROS 2 - MATLAB & Simulink
• Getting Started with Connecting and Controlling a UR5e Cobot from Universal Robots
• Getting Started with Standalone ROS Node Generation for Universal Robots

Application Examples

• Intelligent Bin Picking in MATLAB with Universal Robots UR5e Cobot
• Intelligent Bin Picking in Simulink with Universal Robots UR5e Cobot
• Simulate a Universal Robots UR5 Using MATLAB and Gazebo for Glue Dispensing on a Windshield

Videos

• Developing a Pick-And-Place Application in MATLAB and Simulink
• Designing Robot Manipulator Algorithms
• Empower Your Robots with AI using MATLAB
• Design Industrial Robot Applications from Perception to Motion
• Simulink Blocks for Robot Manipulators and Safe Trajectory Tracking Control

Notes

1. This hardware support package is functional for R2022b and beyond.

2. Use ‘’Comments and Ratings’’ section to share your experience and rate the support package. For installation issues with this support package or for any technical queries, please contact MathWorks Technical Support.