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Introduction

A summarized exploration of the RoboKit component.
Welcome to the Robokit Section! This guide covers Robokit setup and use for your Robotic Arm(s), whether you're new or experienced. It includes setup, firmware, safety, and more.
RoboKit, part of AMAS, connects and controls physical robots, enabling immersive teleoperation for Universal Robots e Series Robotic Arms over a network.

Product Objectives

The primary objective of RoboKit is to modernize robot arms for intuitive remote control via AMAS VR app and SenseKit, enabling precise and immersive 3D interaction.

Key Features

RoboKit enhances control and safety for the physical robot arm with key features:
  1. 1.
    Real-Time Inverse Kinematics: Computes and generates the robot's trajectory based on AMAS VR app commands, enabling real-time control.
  2. 2.
    Error Handling: Implements safety protocols to prevent unexpected motions, ensuring safe operation.
  3. 3.
    Robot Rescue: In-case of error states of robotic arm it brings the robot to the desired position for user out of the error state.
  4. 4.
    Robot Connection: Includes drivers for sending joint commands and receiving robot state updates.
  5. 5.
    AMAS VR App Integration: Utilizes ROS Bridge Websocket for user command reception and status/error alerts, enhancing safety awareness.

Integrations

The RoboKit comes in different versions based on the robotic arm that is available to the clients:
UFactory xArm
UR e Series
UR CB Series
The AMAS app comes with the digital twin of the xArm for the interactions and performing user actions. The communications between the AMAS and the xArm is achieved using the RoboKit (shipped with the product) communicating with the xArm 6 or xArm 7 to provide joint angles and velocities for controlling the arm and receiving the current joint states from the arm.
The uFactory xArm Gripper is supported by the AMAS. Service calls are made from the VR App to the gripper to trigger the opening and closing of the gripper.
The integration of the RoboKit with the Universal Robots e Series Robotic Arms allows users to teleoperate or teleprogram the robot arm using the AMAS VR app. Through the app’s intuitive interface, users can control the robot’s movements, configure trajectories, and interact with the virtual representation of the robot in real-time. RoboKit interfaces with the grippers using the URCaps. The extend.urp is set to look at the Digital IO to convey the change in the gripper state to the gripper as commanded from the RoboKit. The system uses events in the graphical programming environments to call other URCaps functions, which means that it is compatible with every single accessory that contains URCaps functionality. The integration of the AMAS VR app with the RoboKit and Universal Robots e Series Robotic Arms offers a powerful and user-friendly solution for teleoperation and programming of robotic tasks.
Although the UR CB series robots have been discontinued and replaced by the next generation e Series robots, they are still widely used in various industries and research institutions. With the integration of the RoboKit with the Universal Robots cb Series Robotic Arms, users can upgrade their control methodology and teleoperate/teleprogram the robot arm using the AMAS VR app. The app's intuitive interface enables the users to control the robot's movements, configure trajectories, and interact with the virtual representation of the robot in real-time. To interface with the grippers, RoboKit uses URCaps, and the extend.urp is configured to look at the Digital IO to convey the change in the gripper state to the gripper as commanded from the RoboKit. The system uses events in the graphical programming environments to call other URCaps functions, which means that it is compatible with every single accessory that contains URCaps functionality. The integration of the AMAS VR app with the RoboKit and Universal Robots cb Series Robotic Arms offers a powerful and user-friendly solution for teleoperation and programming of robotic tasks.