UR3 Web - HMI

In this project, the digital twin solution was based on technology accessible through a web browser. The technology consists of several containers for easy access. It is a simple application, with only Bootstrap v5 for nicers visualization.

KeyWords: Universal Robots, UR3, RTDE, Three.js, Web Visualisation, Web Components, Vite, Docker Compose, Docker Containers

Software
------------------------------------
|
|   - FLASK-SERVER
|   -   based on Python(3.10)
|   --   ur-rtde
|
|   - SERVER
|   -   based on Node(latest)
|   --   vite
|   --   three
|   ---   Bootstrap v5(cdnjs import)

+------------------------------------------------------+
| robot_network                                        |
+------------------------------------------------------+
+------------------------+       +---------------------+       +----------------------+
|                        |       |                     |       |                      |
|        server          | <---> |    flask-server     |       |       unpack         |
|     (Node.js App)      |       |  (Python Flask App) |       |   (Custom Image)     |
|                        |       |                     |       |                      |
|             Port: 3000 |       |          Port: 5000 |       |           Port: None |
+------------------------+       +---------------------+       +----------------------+
                                            ↑
                                            |
                                            |
                                            |
                                            ↓       
                                    +--------------+
                                    +      UR3     +
                                    +     Robot    +
                                    +--------------+

From client via SSE (Server Sent Events) | HTTP to the Flask server side and back. In Flask is there a simple API that can communicate with the real UR3 robot or with UR3 in the UR Polyscope simulation using RTDE (Real-Time Data Exchange) communication.

How to run

Dependencies: Docker || Docker Compose || Docker Desktop

The whole application is based on a containerized application. Docker Compose was used, where containers for visualization and communication with the robot are solved. in the container itself also the unpacking of the whole scene for visualization is solved. In the unzip container, the package is loaded and then decompressed with the volumes linked for access from the visualization container to the client.

$ docker compose up --build

The application then runs on the host computer, so it is possible to connect to it on port 3000.

http://ip-adress-of-host:3000/

Note: The application can run on any OS with x86 architecture. Not yet optimized for ARM architecture.

Visual