Integration of the SoftHand robotic hand with the UR5 robot and its implementation in the Robot Operating System (ROS)

This project presents the design, implementation, and validation of an integrated robotic system composed of the UR5e manipulator and the qbHand2M robotic hand, operating under ROS 2. Developed at the Grupo Integrado de Ingenierı́a (GII), its objective is to optimize manipulation in controlled environments through advanced planning and real-time control algorithms. The system integration involved actuator synchronization, dedicated controller implementation, and workspace optimization. MoveIt 2 was used for trajectory planning and execution, ensuring movement stability and precision. Experimental tests confirmed effective integration, with optimal communication latency and a positioning accuracy of less than 0.2 cm. Additionally, the system demonstrated prolonged operational stability and a high success rate in object manipulation tasks.The results validate the system’s scalability and robustness, providing an efficient solution for collaborative robotics applications.