Link to YouTube playlist: https://www.youtube.com/playlist?list=PLSaHroqSzd_WR5xg_QvIdhWTvgah-BKno
The Repository holds the .zip file of the ros workspace used in generating the Project.
Steps to launch the robot Arm:
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Clone the repository, and unzip the ros workspace at a new location, and follow the steps to setup a ros workspace, ros build.
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Once configured with ros, under the src files, use the sample.launch file in the src/ur5_robotiq_arm/launch/sample.launch
To create the UR5 arm with the robotiq gripper:
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Use the src/ur5_robotiq_description folder, which has the urdf.xacro file which combines the robot arm with the gripper.
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Lauch the urdf.xacro file with changes if needed, in moveit configuration to generate a config by Moveit.
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Follow the steps to create your own poses with the robot and plan the motion of the robot
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Create the controllers.yaml file and the ur5_robotiq_moveit_controller_manager.launch.xml and add the appropriate changes as per the reference files provided in the repo.
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Then create the sample.lauch file, to launch the robot arm onto the 3D simulator called Rviz and a real world simulator called Gazebo.
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Watch your robot arm move, in your defined positions with an advanced pathplanning.
Forward kinematics are verification in MATLAB:
Explanation of the MATLAB code for validation of Forward kinemat- ics for the UR5 has been uploaded to YouTube on the channel “Kulbir Ahluwalia” and can be viewed at the link https://youtu.be/GjvW574I-Pc. The video of the moving UR5 arm can be seen at https://youtu.be/ISjVmBUFw6Y.