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A digital-twin of the Universal Robots UR3 integrated into the Unity3D development platform.

License: MIT License

C# 75.71% HLSL 24.29%

unity3d communication digital-twin-application ur3-robot simulation collaborative-robot robotics

unity3d_robotics_ur's Introduction

Unity3D Industrial Robotics: Universal Robots UR3

Requirements:

Software:

Universal Robots Polyscope, Blender, Unity3D 2022.3.2f1, Visual Studio 2017/2019

Supported on the following operating systems:

Universal Windows Platform, Android

Software/Package	Link
Blender	https://www.blender.org/download/
Unity3D	https://unity3d.com/get-unity/download/archive
Unity HDRI Pack	https://assetstore.unity.com/packages/2d/textures-materials/sky/unity-hdri-pack-72511
Universal Robots Polyscope	https://www.universal-robots.com/download/
Visual Studio	https://visualstudio.microsoft.com/downloads/

Project Description:

The project is focused on a simple demonstration of client-server communication via TCP / IP, which is implemented in Unity3D. The project demonstrates the Digital-Twin of the UR3 robot with some additional functions. The application uses performance optimization using multi-threaded programming.

This solution can be used to control a real robot or to simulate it (using VMware <-> UR Polyscope in Windows), E and CB series. The Unity3D Digital-Twin application was tested on the UR3 robot, both on real hardware and on simulation.

Main functions of the UR3 Digital-Twin model:

Camera Control
Connect/Disconnect -> Real HW or Simulation
Read Data (Cartesian / Joint Position diagnostics)
Write Data (Speed control of the robot (X,Y,Z and EA{RX, RY, RZ}) using the joystick)

The application can be installed on a mobile phone, tablet or computer, but for communication with the robot it is necessary to be in the same network

The project was realized at the Institute of Automation and Computer Science, Brno University of Technology, Faculty of Mechanical Engineering (NETME Centre - Cybernetics and Robotics Division).

Appendix:

Example of a simple data processing application:

UR Robot - Data Processing

Project Hierarchy:

Repositary [/Unity3D_Robotics_UR/Universal_Robots_Unity_App/Assets/]:

[ UI + Main Control           ] /Script/UI/
[ Data Processing             ] /Script/UR3/
[ Individual objects (.blend) ] /Object/Blender/
[ Images (UI)                 ] /Image/
[ Scene of the Application    ] /Scenes/

Digital-Twin Application:

Result:

Youtube: https://www.youtube.com/watch?v=kReuJdESdz0&t=182s

Contact Info:

[email protected]

Citation (BibTex)

@misc{RomanParak_Unity3D,
  author = {Roman Parak},
  title = {A digital-twins in the field of industrial robotics integrated into the unity3d development platform},
  year = {2020-2021},
  publisher = {GitHub},
  journal = {GitHub repository},
  howpublished = {\url{https://github.com/rparak/Unity3D_Robotics_Overview}}
}

License

MIT

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unity3d_robotics_ur's Issues

Missing materials.

Floor and roof materials are missing.

Package Manager Error in Unity - No package manifest was found.

Attempting to add link of https://github.com/rparak/Unity3D_Robotics_UR.git in Package Manager in Unity under "Adding package from git URL" ends with an error:

System:
Windows 10
Unity 2022.3.12f1

Many thanks for looking into this issue.

Meshes are missing

The meshes are missing from the project. After importing there is no robot present.

UR3 robot in Unity3D did not change joint states as the URSim robot.

Hello, I've successfully connect the Unity3D with URSim with the IP address and it's possible to utilize the "Joystick Panel" to control URSim robot remotely. But the robot in Unity3D did not change its condition to be the same as that in URSim.
Then when I close the Unity running mode, I obtained the following issue:

ObjectDisposedException: Cannot access a disposed object.
Object name: 'System.Net.Sockets.NetworkStream'.
System.Net.Sockets.NetworkStream.Read (System.Byte[] buffer, System.Int32 offset, System.Int32 size) (at <0463b2ef957545c0a51b42f372cd4fbb>:0)
ur_data_processing+UR_Stream.UR_Stream_Thread () (at Assets/Scripts/UR3/ur_data_processing.cs:234)
System.Threading.ThreadHelper.ThreadStart_Context (System.Object state) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Threading.ExecutionContext.RunInternal (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state, System.Boolean preserveSyncCtx) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Threading.ExecutionContext.Run (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state, System.Boolean preserveSyncCtx) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Threading.ExecutionContext.Run (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Threading.ThreadHelper.ThreadStart () (at <695d1cc93cca45069c528c15c9fdd749>:0)
UnityEngine.<>c:<RegisterUECatcher>b__0_0(Object, UnhandledExceptionEventArgs)

How can I fix the problem, thank u very much.

connecting to two different IP (2 UR Robots)

Hi Roman Parak,

I am tring to connect to two different UR16 - on two different IPs
if I use the same ur_data_processing(https://github.com/rparak/Unity3D_Robotics_UR/blob/main/Universal_Robots_Unity_App/Assets/Scripts/UR3/ur_data_processing.cs) then, the unity arm A will follow the actual Robot Arm A, but Unity Arm B will do the same as well, before it goes to the actual Robot Arm B's pose. And, this repeats over time, sometimes A copy B, and sometime B copy A.

How do I make sure that unity amr A copy actual Robot Arm A only, and the same for Arm B?

Thanks,
Kind regards,
Zul

Unable to Connect with VM - -- UR polyscope.

Hi Roman
I am unable to connect UR3 Unity with UR3 Polyscope. Is there any need to change any IP in script file. Unable to connect VM --polyscope UR3. Please help ....