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:
Real-Time Inverse Kinematics: Computes and generates the robot's trajectory based on AMAS VR app commands, enabling real-time control.
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.
Robot Connection: Includes drivers for sending joint commands and receiving robot state updates.
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 robot that is available to the clients:
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.
AMAS now supports Dobot CR-A series robotic arms, which is of one of the most popular Co-bots offered by Dobot. Using the AMAS VR solution, the robot can be teleoperated and tele-programmed.
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 Dobot robot drivers, using modbus. Natively, the support for Robotiq 2F-85 is available, but any other modbus based gripper/accessories can be integrated. The integration of the AMAS VR app with the RoboKit and Dobot CR-A series Arms offers a powerful and user-friendly solution for teleoperation and programming of robotic tasks.
AMAS now supports AgileX mobile robots, enabling users to have a modular mobile platform. The users can either mount their own hardware, or choose from the options available from both AgileX and Extend Robotics.
Using the AMAS VR solution, the robot can be teleoperated using either the virtual joystick or the physical joysticks on the controllers.
Through the app’s intuitive interface, users can control the robot’s movements. Depending on the robots, all types of drive systems can be controlled very intuitively, reducing complication of switching drive modes and using a combination of various switched and joysticks for achiving the desired locomotion. The integration of the AMAS VR app with the RoboKit offers a powerful and user-friendly solution for teleoperation and opens an entirely new aspect to mobile manipulation.
