Documentation Status

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staubli: staubli_resources | staubli_rx160_moveit_config | staubli_rx160_moveit_plugins | staubli_rx160_support

Package Summary

Documented

ROS-Industrial support for the Staubli RX160 (and variants).

This package contains configuration data, 3D models and launch files for Staubli RX160 manipulators. This includes the base model and the RX160L.

Specifications:

  • RX160 - Standard Arm - Nominal Speed
  • RX160L - Long Arm - Nominal Speed

Joint limits, torque limits, and maximum joint velocities are based on the information in the Staubli Robotics - RX series 160 family - Instruction Manual version D28086504A – 19/06/2012. All urdfs are based on the default motion and joint velocity limits, unless noted otherwise (ie: no support for high speed joints, extended / limited motion ranges or other options).

Before using any of the configuration files and / or meshes included in this package, be sure to check they are correct for the particular robot model and configuration you intend to use them with.

NB (1): Masses, center of mass and moments of inertia were calculated using Solidworks and the official Staubli CAD models, and may not be accurate.

NB (2): In order to allow maximum torque on axis 6, effort limit on axis 5 was set to 29 Nm, rather than a feasible 58 Nm if torque on axis 6 = 0 Nm (see superscripts (1) and (2) from table in Section 2.6.2 -Torque Limits- of the instruction manual for details).

Contributors:

This support package has received contributions from: S. van Elderen (RX160) and Murilo Martins (Ocado Technology) (RX160/RX160L).

staubli: staubli_resources | staubli_rx160_moveit_config | staubli_rx160_moveit_plugins | staubli_rx160_support

Package Summary

Documented

ROS-Industrial support for the Staubli RX160 (and variants).

This package contains configuration data, 3D models and launch files for Staubli RX160 manipulators. This includes the base model and the RX160L.

Specifications:

  • RX160 - Standard Arm - Nominal Speed
  • RX160L - Long Arm - Nominal Speed

Joint limits, torque limits, and maximum joint velocities are based on the information in the Staubli Robotics - RX series 160 family - Instruction Manual version D28086504A – 19/06/2012. All urdfs are based on the default motion and joint velocity limits, unless noted otherwise (ie: no support for high speed joints, extended / limited motion ranges or other options).

Before using any of the configuration files and / or meshes included in this package, be sure to check they are correct for the particular robot model and configuration you intend to use them with.

NB (1): Masses, center of mass and moments of inertia were calculated using Solidworks and the official Staubli CAD models, and may not be accurate.

NB (2): In order to allow maximum torque on axis 6, effort limit on axis 5 was set to 29 Nm, rather than a feasible 58 Nm if torque on axis 6 = 0 Nm (see superscripts (1) and (2) from table in Section 2.6.2 -Torque Limits- of the instruction manual for details).

Contributors:

This support package has received contributions from: S. van Elderen (RX160) and Murilo Martins (Ocado Technology) (RX160/RX160L).

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Overview

This package is part of the ROS-Industrial program. See staubli for more information.

Installation

See the main staubli page.

Usage

See the Working With ROS-Industrial Robot Support Packages page.

Wiki: staubli_rx160_support (last edited 2016-07-11 09:43:11 by GvdHoorn)