Universal Robots UR5 + Robotiq S Model 3 Finger Gripper 1.31

UR5 gripper 3 finger universal robots

  1. Andrea Franceschetti
    This MuJoCo model has been created by Control Engineering Master's Student

    Andrea Franceschetti
    @Intelligent Autonomous Systems (IASLAB) Robotics Research Group
    University of Padova
    Department of Information Engineering (DEI)

    Model includes:
    • Universal Robots UR5: 6 DOF collaborative robotic arm with max 5kg payload
    • Robotiq S model 3 Finger Gripper: 4 DOF underactuated gripper
    • Mounting Bench
    Model created on MuJoCo Pro v1.31

    The whole robot is torque controlled but are also available position and velocity control/actuators.
    Force sensors are available at the gripper's phalanges for pressure feedback.
    The gripper underactuated system of hinges and bars has been replaced with tendon couplings for semplicity.


    1. finalmodel.png
    Kyokushin likes this.

Recent Reviews

  1. inksci
    Version: 1.31
    Where or how can I find the model of Universal Robots UR3? Thanks a lot!
  2. Rafael Beirigo
    Rafael Beirigo
    Version: 1.31