ur3e

ROS2 URDF description for Universal Robots

Python IKFast library for Universal Robots

ROS-Melodic, Gazebo, and MoveIt configuration for dual configuration with Universal Robots (example with UR3e)

OpenAI Gym interface for Universal Robots with ROS Gazebo

Master's thesis: ROS 2 / MoveIt 2 human-robot collaboration on a real UR3e. 500 Hz admittance control, ISO/TS 15066 safety, YOLOv8 human perception, validated on hardware.

ROS 2 eye-to-hand calibration of a fixed RealSense D435i to a UR3e with a ChArUco board: eight solvers compared, best picked by per-sample consistency.

C++ ros2_control Cartesian admittance controller with force-adaptive damping, 500 Hz, no allocation in the update loop. Built for the UR3e.

🦾 UR3e Pick & Place simulation with ROS 2 Jazzy, MoveIt 2, and Gazebo | Vision-based robotic manipulation

URDF for the Robotiq 85 Gripper to be used with the UR5 / UR3 in Gazebo and Moveit

Universal Robots e-Series control toolkit built on ur_rtde

Simultaneous balancing and sensing of a ball, while moving along a path, using two 6-DOF arms

ROS 2 inverse and forward kinematics services for Universal Robots UR3e, UR5e and UR10e: closed-form, all 8 solutions, closest to the current joint state. Humble and Jazzy, Docker-ready.

Natural-language pick-and-place on a UR3e arm. Builds the same system at three levels of planner constraint so the division between model and code can be examined. Every batch is verified in simulation against an expected bitmap before the arm moves. Capstone project by a team of six, exercised on physical hardware.

Embedded Robotics an der Westfälischen Hochschule, Campus Bocholt

Coffee-serving robot arm built on a Universal Robots UR3e

UR3e reaching with reinforcement learning: MuJoCo + Gymnasium environment built from the real DH model, SAC and SAC+HER baselines with trained policies.

Hands-on AI controls laboratory projects for robotics systems — ITAI-4376 & ITAI-3379 | Grade: 105%

Semantic Perception (SPIN) project

Sorting industrial components with an Intel Realsense D435i, a UR3e, and a Robotiq Hand E gripper

Tested Python kinematics for Universal Robots e-Series arms (UR3e, UR5e, UR10e): forward/inverse kinematics, Jacobian, manipulability.