Code & Data

Code:

URmat

The URmat project is an interface between Matlab and Universal Robots (UR) robotic manipulators. It enables the control of UR robots with Matlab programming over TCP/IP connection. It can be useful for teaching robotics and implementing simple projects. Also URmat can be used alongside with Peter Corke’s Robotics Toolbox. It has been developed and tested on a UR5 robot with software version 3.0

The code can be found here and comes without any guarantee. Developers and testers are welcome!

Data:

Inverse Dynamics Datasets:

• BaxterRhythmic – dynamics generated by a circular movement of the Rethink Baxter robot
• URpickNplace – dynamics generated by pick n place of a 5 kg object for the Universal Robots UR10 manipulator
• BaxterRand – dynamics generated by point reaching movements of the Rethink Baxter robot

The datasets can be downloaded here and made availiale in: [1]

Forward Dynamics Datasets:

• KukaDirectDynamics – 10 trajectories generated from Kuka LWR while executing a pick and place task
• BaxterDirectDynamics – 10 trajectories generated from Rethink Baxter while executing a pick and place task

The datasets can be downloaded here and made availiale in: [2]

References:

• A reservoir computing approach for learning forward dynamics of industrial manipulators
  By A. S. Polydoros and L. Nalpantidis
  In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  pp. pp. 612–618, 2016.Details
• Real-time deep learning of robotic manipulator inverse dynamics
  By A. S. Polydoros, L. Nalpantidis, and V. Kruger
  In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  pp. pp. 3442–3448, 2015.Details