UR5e - Softhand (qbrobotics) Integration

This project integrates a UR5e robotic arm with a qbHand2M (SoftHand) using MoveIt for advanced motion planning and manipulation tasks. The setup combines state-of-the-art robotic control with a soft robotic hand, enabling precise pick-and-place operations and other complex manipulations.

The project is designed for:

• Industrial automation: For tasks requiring adaptive grippers.
• Human-robot interaction: Leveraging the soft-hand capabilities.
• Robotic research: Providing a flexible platform for algorithm testing and development.
• Education: A hands-on tool for students and educators in robotics.

It is implemented using ROS 2 for seamless integration with modern robotic ecosystems. Features include:

• Joint state merging
• Custom motion planning configurations
• Scalable deployment

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Installation

Clone the repository and install dependencies:

git clone https://github.com/SantaCRC/ur_softhand.git
cd ur5e-softhand-integration
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash

Usage

The following commands and actions must be performed in order

1. Start-up the UR5e using the pedant and connect the softhand to the power outlet, check the blue light is powered in the hand connection.
2. Start the softhand controller using

 ros2 launch qb_hand_description bringup_qbhand2m.launch standalone:=true activate_on_initialization:=true

3. Start the UR5e controller using

ros2 launch my_robot_cell_control start_robot.launch.py

4. Start moveit

ros2 launch ur_softhand_moveit_config start.launch.py

5. Run URCaps from UR5e pedant Control by laboratorio script