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Universal Robots Integration

This page summarizes the integration guide for mounting a Linkerbot L20 Lite, L20, or L30 hand on Universal Robots e-Series arms (UR5e / UR10e).

For the complete, detailed instructions, please refer to the Full UR Series Integration Guide.

5-Step Integration Checklist

  1. Mechanical Mounting: Fabricate and attach a rigid adapter plate (UR-side ISO 9409-1-50-4-M6 to Linkerbot-side [VENDOR_SPEC_REQUIRED]). Torque all M6 fasteners appropriately.
  2. Electrical Setup: Provide a dedicated, fused external DC power supply ([VENDOR_SPEC_REQUIRED]). Do NOT power the hand directly from the UR tool connector.
  3. Communication Setup: Wire the CAN/CAN FD or RS-485 lines to your host PC using shielded twisted-pair cables. Ensure proper termination ([VENDOR_SPEC_REQUIRED]).
  4. Robot Configuration: Update the payload, TCP, and center of gravity in PolyScope to account for the hand, adapter, and cables.
  5. Software & Testing: Install the ROS 2 packages, update the URDF with a fixed joint at tool0, and verify communication in mock mode before enabling real hardware motion.

ROS 2 Launch Snippet

Add the following to your ROS 2 launch file to start the hand node alongside the UR driver:

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description() -> LaunchDescription:
    return LaunchDescription(
        [
            Node(
                package="dexterous_hand_ros2",
                executable="hand_node",
                name="dexterous_hand",
                output="screen",
            )
        ]
    )