Lab Experiment 2. UR Grasping Task

Grasping task

Workspace working with a robot set up by the following Fig1 below.

Robotics workspace setup

Program the UR Robot to grasp the 3D printed object from the top of the wooden box to the plastic green box. The requirement is robotic arm must move smoothly from point to point, and not collide with any objects on the table, and wise versa. All dimension of the workspace shows in Fig 2. Starting point A[0, -500, 500, 0, 0, 3.14].ur

Dimension all object in the workspace

Using the Polyscope in UR Sim to program and simulate a grasping task before applying the code to the real UR10e. The video shows the result of the task.