Contribution

Sensorized Adaptive Grasping: ROS2 Based Integration of UR3e and Schunk SVH with Force Sensors

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Abstract

Robotic grasping is a critical challenge in automation,requiring precise control to handle objects of varying shapes and fragility. While industrial robotic arms offer reliable motion control, their ability to adapt gripping force dynamically is often limited. This work addresses the need for force-sensitive grasping by integrating the Universal Robot UR3e with the Schunk SVH robotic hand in a ROS2-based framework. The key innovation lies in a real-time force-controlled grasping system, where force sensors embedded in the fingers provide continuous feedback to regulate applied force. The System operates within a closed-loop control structure, ensuring that no additional force is applied to the object once the required force is reached. This prevents deformation or slippage, enabling safer and more adaptive handling. The framework was validated through simulated grasping tasks involving objects such as a ball, a square block, and an apple. Each task tested the system’s ability to adjust its grip in response to sensor feedback. The integration process included configuring ROS2-based communication, developing motion planning using MoveIt2, and visualizing robot trajectories in RViz. The UR3e trajectories were tested in Gazebo to simulate grasping interactions before real-world deployment, ensuring reliable execution. Future work will focus on enhancing object detection by integrating computer vision modules into the study. A camera System automatically identifies and localizes objects, reducing reliance on predefined grasping positions. This addition will enable autonomous grasp selection, making robotic manipulation more adaptive in unstructured environments

Keywords: ROS2 robotic manipulation, Schunk SVH, Universal Robot UR3e, Adaptive force feedback, closed-loop control system, Sensorised grasping

How to Cite:

Aboud, Y., Johnson, A., Srinivas, G. L. & Brandstötter, M., (2025) “Sensorized Adaptive Grasping: ROS2 Based Integration of UR3e and Schunk SVH with Force Sensors”, ARW Proceedings 25(1), 73-78. doi: https://doi.org/10.34749/3061-0710.2025.12