ROS UR3e controlled through python - Universal Robot

Completely controlled by python script through ROS and there are no motions on the teach pendant.

Motion planning, Collision detection and avoidance, Controlling grippers and I/O pins, and many more!

A URcap software is used to connect the host ROS PC to the robot.

All the motion planning is carried out by moveit! package and the waypoints are sent through a python script via ethernet. I/O states can be controlled through the python script as well.

Rviz is used to visualize the robot's motions and can be used for collision detection. In this case, the robot avoids collision with the table. Objects can also be attached to the tool.

Even simulations can be carried out on gazebo before sending the python script to the real robot!

[legendepona]

Hi ! Impressive work !
I'm totally new in robotics and I have a UR5e that I would like to code in python. Could you please guide me a bit with this ROS package and how we install and then use it ?

[chinmaydalal]

Hey karthik i wanted to know like how did you made the dynamic model or inverse dynamics for computed torque control
It'll be really glad if you would help with it

[SahitKumarBurada]

Bro, Thats great work, I am wondering how you got that purple cylinder at the TCP. Explain please. I need that info ^^ Thanks

[Kevin-zcku]

How is the gripper controlled in this connection mode? Is it ros? It doesn't seem to work under the e-series.

[yonenhki]

Hi, where can I buy the cross base please

[yannkukulski]

Hello,

i am currently learning to drive an UR3, i am using ur_robot_driver as in your link. I managed to make the robot move with rviz but not with the script. i don't know where to start with script can you help me?

[williamhuang]

Hanzhen harmonic drive gear,
robot joint,
strain wave reducer,
over 30 years experience