05Robot 3.0

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Classes
Universal Robot Module

Contains routines for pick and place actions and enabling communication with Universal Robot UR3, UR5 or UR10. More...

## Classes
class | UR3CalibWidget
| robot calibration user interface wizard for UR3Workspace class More...
class | UR3Intermediator
| Base class for communication with UR robot using TCP/IP interface. More...
struct | BinDescriptor
| struct representing definition of a physical bucket for object sorting More...
class | UR3Workspace
| Wraper over UR3Intermediator class. Represents a robot working space. Enables robot connection and robot interface. UR3Workspace contains robot calibration information and definition of environment, such as home position and binDescriptor etc. More...

## Detailed Description

Contains routines for pick and place actions and enabling communication with Universal Robot UR3, UR5 or UR10.

05Robot - Computer Vision Module

Author
  P.Kaczmarek,J.Tomczynski,T.Mankowski

Version
  1.0 2017

Contains routines enabling communication with Universal Robot UR3, UR5 or UR10. Module enables direct communication with UR robot by using UR3Intermediator class, however a more easy-to-use wrapper UR3Workspace was prepared to handle basic tasks of object sorting.

Additionally module contains UR3CalibWidget widget prepared as an user interface for robot workspace calibration.

Module example usage is presented below:

UR3Workspace* UR3Workspace_ = new UR3Workspace();
connect(UR3Workspace_, SIGNAL(commandStarted()), this, SLOT(changeToRunninng()));
connect(UR3Workspace_, SIGNAL(commandExecuted()), this, SLOT(changeToIdle()));
connect(ui->connect_r, SIGNAL(clicked(bool)), UR3Workspace_, SLOT(connectToRobot()));
connect(ui->pushButton_2, SIGNAL(clicked(bool)), UR3Workspace_, SLOT(moveToWorkspaceHome()));
connect(ui->pushButton_3, SIGNAL(clicked(bool)), UR3Workspace_, SLOT(moveOverBoard()));
connect(this, SIGNAL(pickObject(QVector3D,float,int)), UR3Workspace_, SLOT(pickObject(QVector3D,float,int)));
UR3CalibWidget* UR3CalibWidget_ = new UR3CalibWidget(UR3Workspace_);
connect(this->ui->pushButton, SIGNAL(clicked()), UR3CalibWidget_, SLOT(show()));

05Robot - Computer Vision Module

Author
  P.Kaczmarek,J.Tomczynski,T.Mankowski

Version
  1.0 2017