Python IKFast library for Universal Robots
Force controlled assembly process. In real and simulated environment. Using Universal Robots UR5, ROS, Gazebo.
Simulator of UR5 robotic arm with Robotiq gripper, built with MuJoCo
Vision-Based Lego Detection, Localization, and Assembly Using UR5 Robot Arm
A mobile robot equipped with a 6-DoF manipulator to pick up different bricks in a partially known environment: kinematics, trajectory planning & control, object localization & classification.
Codebase for MTE Robotics Lab Mini-Project Group 4.
ROS 2 package designed for motion planning and control of a UR5 robotic arm, supporting joint-space, Cartesian-space, and sinusoidal trajectory generation. Compatible with Gazebo Classic using ROS2 Humble
Simulation of a UR5 robotic arm using ROS2 and Gazebo, performing pick-and-place tasks on a red cube with an AprilTag, using an onboard camera for detection and localization.
ROS UR5 Pick & Place Simulation Environment
Mobile manipulation for warehouse order fulfillment with task planning, navigation, RGB-D perception, UR5 manipulation, and suction grasping.
Real-time S-curve trajectory planner with deterministic O(1) sampling for robotic motion control. Features C++ library, PySide6 GUI, and CoppeliaSim integration.
Real-time soft task-priority tuning via constrained quadratic programming for multi-objective UR5 manipulation in dynamic environments.
Autonomous vision-guided peg-in-the-hole assembly using UR5, MoveIt 2, Robotiq 2F-85, RGB-D perception, and Gazebo Classic in ROS 2 Humble.
This project involves the verification of various algorithms for the UR5 using the Mujoco simulation.
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