Virtual Collaborative Cells Modeling for UR3 and UR5 Robots in Gazebo Simulator

This paper presents virtual models of collaborative cells for two industrial collaborative robots UR3 and UR5 in the Gazebo simulator.Typically, the UR3 and UR5 robots are used by enterprises for packaging, assembly and sorting.Modeling and virtual experiments are an important stage in production processes planning, which involves joint human-robot work.Such models allow to plan safe human-robot interactions within a joint workspace and, if required, to rearrange the workspace.Our models of collaborative cells were adapted to several typical cases of joint human-robot operation scenarios and could be used in engineering design and testing for human-robot interaction in the field of production processes.