UR3e robot arm Status Active Superusers Ivan Penskiy (ipenskiy[at]umd[dot]edu) Important documents and useful links UR3e manual UR3e technical details ROS tutorials ROS driver for UR arms and corresponding Gazebo packages Another Gazebo repository UR development forum DH parameters Non Linux offline simulator Linux offline simulator Overview UR3e from Universal Robots is a smaller collaborative table-top robot, perfect for light assembly tasks and automated workbench scenarios. The cobot weighs only 24.3 lbs (11 kg), but has a payload of 6.6 lbs (3 kg), ±360-degree rotation on all wrist joints, and infinite rotation on the end joint. It can be controlled directly using the pendant and Polyscope software or using ROS (Robot Operating System). Software setup UR3e is connected to the lab's LAN with a static IP. The controlling PC uses Ubuntu 18.04 with real-time kernel and has ROS Melodic packages installed. Location Brendan Iribe Center 432, Room 0116. Physical specifications Maximum Reach 500 mm Degrees of Freedom 6 Maximum Payload (Including End Effector) 3 kg Pose Repeatability +/− 0.03 mm Reservation UR3e must be reserved before using. The reservation is done using the Google calendar. You will be able to reserve the equipment personally after attending the RML lab orientation and then following the steps below to gain access to the equipment. Please estimate reservation times (they can be changed after the fact) and limit your reservations to a 12 hour maximum to ensure other users also have access to the system. Video demonstration The following videos demonstrate capabilities of UR3e: UR3e: pick and place UR3e: examples from industry UR3e: ROS control Note: these are promotional and instructional videos. They are included for demonstrational purposes only. The details of actual operational procedures in RML can differ! Important reminders While this is designed as a collaborative robot, it is still a big robot that can do a lot of damage. Make sure the red emergency stop button is accessible at all times. Be generally careful when working with UR3e. Gaining access to equipment Contact the lab manager (Ivan Penskiy (ipenskiy[at]umd[dot]edu). Workspace setup Follow this guideline to set up ROS workspace. Shutting down procedures stop the ROS communication with the robot; stop the programs running on the teaching pendant; turn OFF the robot from the teaching pendant (menu in the bottom left corner); turn off the controller box by pressing the power button on the teaching pendant.