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).
Maintainer: G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn AT tudelft DOT nl>
Author: G.A. vd. Hoorn (TU Delft Robotics Institute)
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).
Maintainer status: developed
Maintainer: G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn AT tudelft DOT nl>
Author: G.A. vd. Hoorn (TU Delft Robotics Institute)
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).
Maintainer status: maintained
Maintainer: G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn AT tudelft DOT nl>
Author: G.A. vd. Hoorn (TU Delft Robotics Institute)
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).
Maintainer status: maintained
Maintainer: G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn AT tudelft DOT nl>
Author: G.A. vd. Hoorn (TU Delft Robotics Institute)