3D collision-free trajectory generator for a UR3e manipulator with soft gripper

Abstract

Pick-and-place operations are the most common in robotic applications, and often their design involves the presence of obstacles. This paper presents the development of a software platform that (allows-enables) the manipulation of a collaborative robot UR3e through the generation of 3D trajectories easily defined by the user, as well as a soft gripper capable of gripping objects with different geometries. For this purpose, the development of a graphical interface in Unity is detailed, as well as the incorporation of the digital twin of the UR3e robot. In the same way, the different modules that allow the communication of the platform with the manipulator through ROS are exposed. The results show the creation of user-adapted paths for different cases in collision zones and the arrangement of the gripper for gripping different objects. The accuracy error between the data sent and received from the robot during the tracking of user-defined trajectories is also compared.