The Dual Arm Robot consists of UR5 and UR10 robot arms with passive endeffectors. They are working together to pick and place boxes on a shelf. The system is controlled by ROS in connection with MoveIt! path planning. For grasping the path of the UR5 is adjusted during execution in a force-control-loop.
github
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![](https://s2.save4k.ru/pic/O0-cC2ST5L8/maxresdefault.jpg)