UR3 Data Capture

Stream data from the UR3 and Optoforce ^{now OnRobot} 6 axis force torque sensor.

Installation

Make sure that you update nodejs to the latest version to avoid any issues with bugs in older versions

npm install

Usage

Usage: node streamdata.js <robot ip> <ft sensor ip> [options ...]

Options:

-ftpoll <refresh rate (Hz)> Change the polling rate of the FT sensor. Default is 10Hz

-rbpoll <refresh rate (Hz)> Change the polling rate of the Robot Data. Default is 10Hz

-log <t/f> Enable logging. Default is false

Visit localhost:3000 to see the data in action live.

How it works

The website polls the force torque sensor at the -ftpoll variable (in HZ) and the robot data at -rbpoll in (Hz).

Server API

You can get the data from the server returned in JSON format.

Available Routes

localhost:3000/api/forcetorque Returns the forcetorque data

localhost:3000/api/force Returns the forcetorque sensor's force data

localhost:3000/api/torque Returns the forcetorque sensor's torque data

localhost:3000/api/robotxyz Returns the robot arm's X Y Z location in space

localhost:3000/robotrotation Returns the RX RY RZ of the robot arm