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Overview

  • For this workshop, we will be using a single UR10e per group.

  • The robot will be equipped with a Robotiq gripper.

  • Typical communication between the robot and the computer is done through socket communication. This is what you see with the Robots Grasshopper plugin.

  • We will be using UR's Real-Time Data Exchange (RTDE) to communicate with the robot. This is a faster way of communicating with the robot.

  • Socket communication has a delay of 100hz (100ms), while RTDE has a delay of 500hz (2ms).

  • More information about RTDE can be found here.

  • We have prepared some Grasshopper components that use a trial commercial RTDE package from Underautomation.

note

These components will expire 30 days after installation.