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
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.bashThe following commands and actions must be performed in order
- 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.
- Start the softhand controller using
ros2 launch qb_hand_description bringup_qbhand2m.launch standalone:=true activate_on_initialization:=true- Start the UR5e controller using
ros2 launch my_robot_cell_control start_robot.launch.py- Start moveit
ros2 launch ur_softhand_moveit_config start.launch.py- Run URCaps from UR5e pedant
Control by laboratorioscript