基于ur_rtde的ROS2驱动，让UR机械臂更灵活易用。
A ROS2 Interface for Universal Robots Collaborative Manipulators Based on ur_rtde
- 基于ur_rtde库构建，支持高阶指令与插件扩展。
- 可执行基于路径点的运动控制，适配多种应用需求。
- 开源发布，适合工业自动化与机器人开发人员。
本文提出一种基于ur_rtde C++库的新型ROS2驱动，用于Universal Robots UR机械臂。该驱动旨在提供灵活解决方案，适用于广泛的应用场景。驱动暴露了URScripts的高级命令，并通过插件系统支持自定义命令添加。已实现多个命令，包括基于路径点的运动执行。驱动已开源发布。
原文摘要 · Abstract (English)
In this paper a novel ROS2 driver for UR robot manipulators is presented, based on the ur_rtde C++ library. The proposed driver aims to be a flexible solution, adaptable to a wide range of applications. The driver exposes the high-level commands of Universal Robots URScripts, and custom commands can be added using a plugin system. Several commands have been implemented, including motion execution along a waypoint-based path. The driver is published as open source.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。