UR5e & Robotiq 2F-85 overview

UR5e is a collaborative industrial robotic manipulator from Universal Robots (UR). The manipulator weighs 20 kg, has 6 degrees of freedom (DOF), a load capacity of 5 kg and a working area with a radius of 850 mm. The manipulator has force and obstacle detection capabilities and includes various configurable safety features.

Application design is done via the Polyscope software package on a touch-screen teach pendant.

2f85 is Robotiq's adaptive robotic gripper for use with collaborative robots. The gripper has adjustable gripping stroke from 0 to 85 mm with a resolution of 0.4 mm. It is capable of parallel gripping with a force of 20-235 N and a speed of 20-150 mm/s. The gripper is connected to the manipulator on the flange, with communication via the Modbus RTU protocol.

This documentation describes only the ROS control of the manipulator with the gripper. For control and application design using the teach pendant see their original documentation.