UR5 with Robotiq 85 Gripper: Object Grasping and Placement Simulation
This project simulates a UR5 robotic arm with a Robotiq 85 gripper, performing autonomous object grasping and placement tasks in the PyBullet environment. Using inverse kinematics (IK) for precise arm control and synchronized joint control for realistic gripper motion, the robot grasps cubes from random positions and places them on a tray.
Results Showcase
Grasping and Placing Demo
Watch the UR5 robot in action as it grasps and places objects onto a tray:
Usage Instructions
1. Setup the Environment
Install the required dependencies: pip install pybullet
2. Run the Simulation
This will initialize the simulation, and the robot will begin performing the object grasping and placement task.
Launch the program using the following command: python main.py
3. PyBullet GUI
Once the simulation is running, you can use the PyBullet GUI to observe the robot’s actions in real-time. The interface allows you to track the movement of the robotic arm, gripper, and cubes as they interact within the environment.
Key Features
UR5 Robotic Arm Simulation : The UR5 robotic arm uses inverse kinematics (IK) to move to the correct positions and accurately control its joints for task execution.
: The UR5 robotic arm uses inverse kinematics (IK) to move to the correct positions and accurately control its joints for task execution. Robotiq 85 Gripper : The gripper is simulated to mimic realistic motion, with synchronized joint control that ensures it opens, closes, and interacts with objects like the cube in a natural manner.
: The gripper is simulated to mimic realistic motion, with synchronized joint control that ensures it opens, closes, and interacts with objects like the cube in a natural manner. Dynamic Object Placement : Cubes are randomly generated in the environment, making the task more dynamic and representative of real-world applications.
: Cubes are randomly generated in the environment, making the task more dynamic and representative of real-world applications. Real-Time Interaction: The PyBullet GUI allows for interactive and visual monitoring of the robot’s actions, providing a comprehensive view of the simulation.
Resources & References