Dead simple solution to controlling UR3 and gripper with joystick?
/ Most recent by tthiy1
Hi, I've been in IT for 30 years but very new to UR's and Robotiq, so hoping someone here can give some guidance.
A client needs to have a joystick control his UR3 and Robotiq 2 finger gripper urgently for a very high profile showcase.
This youtube video shows EXACTLY what's needed but I can't seem to get hold of the video creator.
It’s suddenly clicked for me, the guy on youtube basically
said it’s simple, just connect the joystick wires to the analogue ports on the
UR controller and rest is in polyscope.
Joysticks have been around for decades and are pretty simple
devices from what I can see.
Now there’s only 4 analogue inputs on the UR controller, so
that explains why in the video there’s no wrist movement, but I reckon the
customer will accept that, so we use 3 for the Base, Arm and Elbow plus one
more to open/close the gripper.
So assuming the above is true then what would the actual
program in Polyscope look like?
Here’s some bad pseudo code:
If Analogue1 > 0 then rotate base (in proportion to signal)
If Analogue2 > 0 then rotate arm
If Analogue3 > 0 then rotate elbow
If Analogue4 > 0 then open gripper
Could someone help me a bit with the coding?
And would there be any way to control the wrists (that would be nice but probably not absolutely needed)My apologies as I'd posted this in the wrong forum, it's more about programming than the gripper I think.
Open to any and all suggestions/criticisms/anything