Mitsubishi robot RV-6SDL
How to use it
- To control robot from ROS use Mitsubishi ROS interface .
- To control robot from matlab you can use Mitsubishi Melfa Robot Control Toolbox pro Matlab . This method is obsolete and it is not supported anymore.
- Mitsubishi SW RT-Toolbox2 is working over both USB and RS-232. COSIROP is not supported anymore.
RS-232 connection
- RS-232 cable has to be crossed according to documentation. Standard Specifications Manual page 3-101.
- RS-232 communication with the RT-Toolbox2 version 1.2 (we have) is not working in the 1: High-reliability communication method, which is the robot default. The robot is currently set to 0: Conventional communication method defined by the parameter COMSPEC as described in Detailed explanations of functions and operations manual page 5-383.
- RT-Toolbox2 is set as in RT-Toolbox2 manual, page 5-58, except of BaudRate, which is set to 38400 and the protocol is non-procedural. The voltage required for transmission is on 12 V level (it is not tolerant to 3V levels against the standard).
- RS-232 is currently set to:
- 38400 Baud,
- 8 bits (default),
- parity even (default),
- two stop bits (default),
- non-procedural,
- terminator 'CR' (default).
Manuals
- Base of the fingers for Schunk gripper PG70 STEP
- End piece of the finger, which can be replaced by your finger
Denavit-Hartenberg notation
joint | α | a | Θ | d | parameter range |
|---|---|---|---|---|---|
1 | -90 | 85 | parameter | 350 | < -170; 170 > |
2 | 0 | 380 | -90 + parameter | 0 | < -92; 135 > |
3 | -90 | 100 | -90 + parameter | 0 | < -129; 166 > |
4 | 90 | 0 | parameter | 425 | < -160; 160 > |
5 | -90 | 0 | parameter | 0 | < -120; 120 > |
6 | 0 | 0 | 180 + parameter | 85 | < -360; 360 > |
The parameters α (rotation around new X axis) Θ (rotation around Z axis) are in degress and the parameters a (translation in new X axis) and d (translation in Z axis) are in milimeters. The Base is eye matrix and there is no Tool installed. The parameter range is in degrees and is the maximum possible range.