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Robot Development Kit for UR e-Series Robots
Coordinated External AxesFloating ToolpathCollision Avoidance and DetectionJoint Limit AvoidanceMotion Optimization using ConstraintsMoving Part TargetRealtime Path AdjustmentRuntime ScriptingArchitected for Visually Guided Motion
Just specify the starting and ending point. Using dynamic planning and soft constraints, the Actin controller will optimize the motion trajectory avoiding collisions, joint limits and singularities. You can control the velocity along tools paths and let Actin determine the best gripper pose to accomplish the task. Tasks are written based on relative object location, and those objects can be moving. Toolpaths can float and Actin will maintain the path as long as it’s within reach. Tasks are defined independent of the robot hardware, so you can swap a UR10e for a UR5e and get the same functionality without re-coding. To learn more about the details of our natural tasking approach, read this article: Natural Tasking Article - Engineering.com
Actin is designed to control single or multiple manipulators, included branched or extended kinematic chains. With Actin UR, you can coordinate motion of more than six axes. For example, a 6DOF robot on a rail to extend reach, or with a turntable for inspecting parts, or with an actuated end-effector. The combinations are limitless and include the control of multiple coordinate robots.
Simulate the world environment, including imported objects with collision volumes from CAD. Switch from simulation to live robot control with a click of a button. Explore workspace limits and develop full application in simulation before integrating with hardware.
Much more capable than offline tools, you can adjust optimization weights for joint limit avoidance, collision avoidance, joint preference and minimization of kinetic energy. Control descriptors allow you to swap optimizations in real time. Soft constraints allow movement around obstacles, out of bins, and avoidance of visually detected moving obstacles.
