https://www.trossenrobotics.com/Shared/XSeries/xseries_ros2.jpg

The new Interbotix X-Series Robot Arms are built around the high performance DYNAMIXEL X-Series smart servos from Robotis. The X-Series actuators offer higher torque, more efficient heat dissipation and better durability all at a smaller form factor over previous DYNAMIXEL servos.

The XSeries arms offer many different configurations of length and payload with reach up to 750mm and working payload up to 750g, each of the arms comes assembled and tested out of the box.

The arms (Pincher X 150 model or higher) come standard with an upgraded slewing bearing base, a wider customizable parallel gripper configuration and covered semi-transparent electronics shield that offers easy accessibility to ports while keeping the control board free from debris and safe from impact.

All of the Interbotix X-Series arms are ROS compatable with packages / examples and demos available, for more information on ROS Packages see our github: https://github.com/Interbotix/interbotix_ros_arms

Documentation

Overview

Hardware: http://support.interbotix.com/html/hardware/index.html#hardware

Electronics: http://support.interbotix.com/html/electronics/index.html#electronics

Arm Specifications: http://support.interbotix.com/html/specifications/index.html#specifications

Software / Firmware: http://support.interbotix.com/html/softwarefirmware/index.html#software-firmware

Troubleshooting: http://support.interbotix.com/html/troubleshooting/index.html#troubleshooting

ROS

Packages were tested on Ubuntu Linux 16.04 & 18.04 using ROS Kinetic and ROS Melodic respectively. Communication with the robot is done over USB via the DYNAMIXEL U2D2. This device converts USB signals to TTL which allows a computer to 'talk' with each of the Dynamixel servo motors that make up each robot. For the most part, the ROS nodes were written in C++ with a couple nodes written in Python. However, any programming language capable of sending ROS messages can be used to control the robots. To that effect, the core packages that make up this repo are as follows:

  • interbotix_descriptions: contains the meshes and URDFs (including accurate inertial models for the robot-arm links) for the arms and turrets

  • interbotix_sdk: contains the driver node that controls the physical robot and publishes joint states.

  • interbotix_gazebo: contains the config files necessary to launch a robot arm (not turret) model in Gazebo, including tuned PID gains for ros_control

  • interbotix_moveit: contains the config files necessary to launch a robot arm (not turret) using MoveIt either in Gazebo or on the physical robot.

Finally, there is also an interbotix_examples directory containing various examples of how the above mentioned core packages can be used.

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

Wiki: xseries_arms (last edited 2020-02-11 17:23:05 by Rick)