UR3 Unity Simulation

This project is part of my summer internship.
It aims to simulate and control a UR3 robot in a medical intervention scenario using Unity.

🎯 Objectives

1. Create a virtual intervention scene in Unity (doctor, patient, robots…).
2. Animate the scene with simple predefined movements.
3. Connect the Unity scene with a real UR3 robot to reproduce real-time joint movements.

🛠️ Technologies Used

• Unity (C# scripting)
• Universal Robots UR3
• VMware (for URSim simulation)
• Git & GitHub for version control

🚀 Features

• Real-time bidirectional control:
  • Control UR3 robot from Unity interface (buttons, keyboard).
  • Reflect real robot movements in the Unity simulation.
• Safety limits: alerts when robot approaches workspace boundaries.
• Continuous & discrete robot movement commands (speedl, movel, movej).
• UI sliders for joint control and reset.

📂 Project Structure

Assets/ ├── Scripts/ │ ├── UR3Connector.cs # Handles TCP/IP connection with UR3 │ ├── UR3ControlManager.cs # Keyboard + UI button control │ ├── UR3SafetyChecker.cs # Safety limits + alerts │ └── ... ├── Scenes/ │ └── MedicalSimulation.unity └── README.md

🔧 Installation

1. Clone this repository:

   git clone https://github.com/azizsnd/UR3-Unity-Simulation.git

Open the project in Unity Hub (Unity 2021+ recommended).

Configure robot IP in UR3Connector.cs.

Run the Unity scene.

📸 Demo

ur3-unity_HuVhiSXV.mp4