rparak / unity3d_robotics_ee

The project focuses on the integration and control of various types of end-effectors, including Robotiq, OnRobot, ABB Smart Gripper, and SMC's custom grippers, within the Unity3D environment.

Unity3D Industrial Robotics: End-Effector Control

Requirements:

Software:

Blender, Unity3D 2022.3.2f1 (LTS), Visual Studio 2019/2022

Supported on the following operating systems:

Universal Windows Platform, Android

Software/Package	Link
Blender	https://www.blender.org/download/
Unity3D	https://unity3d.com/get-unity/download/archive
Visual Studio	https://visualstudio.microsoft.com/downloads/

Project Description:

The project focuses on the integration and control of various types of end-effectors, including Robotiq, OnRobot, ABB Smart Gripper, and SMC's custom grippers, within the Unity3D environment. The project leverages the power of Unity3D, a robust game development engine, to provide a versatile and user-friendly platform for simulating, testing, and controlling a variety of robotic end-effectors.

The motion parameters of a specific end-effector can be found in the following table.

Software/Package	Velocity	Total Stroke
Robotiq 2F-85	20 to 150 mm/s	0 to 85 mm
OnRobot RG2	55 to 180 mm/s	0 to 100 mm
ABB Smart Gripper	5 to 25 mm/s	0 to 50 mm

The other end-effectors are pneumatically controlled and do not use this type of parameter for their control.

The repository that describes the design of SMC's custom grippers, and other useful information can be found in the link below.

SMC Industrial Automation: End-Effector Prototypes

For more information about how to use end-effectors within the Unity3D environment, please watch the video below.

Project Hierarchy:

[/CAD/]
Description:
  3D models of the individual parts of the end-effector.

[/Helpers/]
Description:
  Some useful Python programs to understand how to control the end-effector of Robotiq and OnRobot.

[/Unity3D_Robotics_EE/]
Description:
  The main Unity3D project with additional dependencies.
  

Result:

Contact Info:

[email protected]

Citation (BibTex)

@misc{RomanParak_Unity3D,
  author = {Roman Parak},
  title = {A digital-twins in the field of industrial robotics integrated into the unity3d development platform},
  year = {2020-2023},
  publisher = {GitHub},
  journal = {GitHub repository},
  howpublished = {\url{https://github.com/rparak/Unity3D_Robotics_Overview}}
}

unity3d_robotics_ee's Issues

How to use it with the UR10 robot arm in unity?

I put the Robotiq 2F_85 on the linkee of the UR10 robot arm, where the tool head should be, but the gripper failed to rotate with the arm, it just stayed horizontal. Does anyone know why and how I can put it on the URrobot in Unity and move it with the correct inverse kinematics angle movement?