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help:common:robot_mitsubishi_rv-6sdl [2010/10/25 09:19]
meloumar
help:common:robot_mitsubishi_rv-6sdl [2021/10/20 13:14]
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Line 1:
Line 1:
===== Mitsubishi robot RV-6SDL =====
===== Mitsubishi robot RV-6SDL =====
-
A robot used in MASH project. Room number is A420 and a phone number is +420 224 357 245 (local line 7245).
=== How to use it ===
=== How to use it ===
-
* [[
http
:
//cmp.felk.cvut.cz/cmp/hardware/rezervace/
|
Reservation
]]
This is used to reserve the robot time for the experiments. Please, fill, who is reserving the robot. Private access, username and password same as for manuals. Be sure, that you reserve yourself for the right robot, MASH is RV-6SDL
+
*
To control robot from ROS use
[[
help
:
common:robot_mitsubishi
|
Mitsubishi ROS interface
]].
-
* Computer (MASH Application server) is installed. The operating system is Windows 7
.
+
* Mitsubishi SW RT-Toolbox2 is working over both USB and RS-232. COSIROP is not supported anymore. RT ToolBox2 shortcut is placed on the desktop.
* Mitsubishi SW RT-Toolbox2 is working over both USB and RS-232. COSIROP is not supported anymore. RT ToolBox2 shortcut is placed on the desktop.
-
* Cameras are working. One can use:
-
* FlyCap - SW by Pointgrey, which allows to grab images or test the camera.
-
* Matlab Image Acquisition Toolbox.
-
* Robot is not mounted yet, be careful. Will be done soon.
* To control robot from matlab you can use [[help:common:robot_mitsubishimelfa_toolbox|Mitsubishi Melfa Robot Control Toolbox pro Matlab ]].
* To control robot from matlab you can use [[help:common:robot_mitsubishimelfa_toolbox|Mitsubishi Melfa Robot Control Toolbox pro Matlab ]].
=== RS-232 ===
=== RS-232 ===
Line 25:
Line 19:
=== Manuals ===
=== Manuals ===
-
* [[
http
:
//cmp.felk.cvut.cz/cmp/hardware/Mitsubishi-RV6SL/manuals/
|
manuals]]
(
private
access)
+
* [[
courses
:
b3b33rob:hidden:rv6sdl_manuals
|
Manuals
(
restricted
access)]]
-
* [[http://www.mitsubishi-automation.com/products/robots.html|Manufacturers site
]]
+
* [[
https
://
eu3a
.
mitsubishielectric
.com/
fa
/
en
/
products
/
rbt
/
robot
/
index
.html|
Manufacturers site
]]
-
* [[
http
://
www
.
docstoc
.com/
docs
/
document-preview.aspx?doc_id=21202704|Mild start]]
+
-
* Local representative of the manufacturer [[http:
//
www.mitsubishi-automation-cz.com
/
contact
/
contacts
.html
?category_id=66
|
Mitsubishi
]]
, [[http://www.autocontcontrol.cz/rs/kontakt.asp|Autocont]], ing. Beges
+
=== Denavit-Hartenberg notation ===
=== Denavit-Hartenberg notation ===
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| ''4'' | ''90'' | ''0'' | ''parameter'' | ''425'' | ''< -160; 160 >'' |
| ''4'' | ''90'' | ''0'' | ''parameter'' | ''425'' | ''< -160; 160 >'' |
| ''5'' | ''-90'' | ''0'' | ''parameter'' | ''0'' | ''< -120; 120 >'' |
| ''5'' | ''-90'' | ''0'' | ''parameter'' | ''0'' | ''< -120; 120 >'' |
-
| ''6'' | ''0'' | ''0'' | ''parameter''
| ''85'' | ''< -360; 360 >'' |
+
| ''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.
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.
-
=== Robot setup ===
-
Robot currently set using parameter MEPAR to work above plane with the z coordinate 100 mm.
-
=== Sample images ===
-
{{:help:common:help:common:robot_mitsubishi_rv-6sdl:photos-1:mash_robot_pictures.zip|Images }}, top view and oblique view, of cubes placed on the TV screen, which projects "wild water".
help/common/robot_mitsubishi_rv-6sdl.txt
· Last modified: 2022/10/21 15:49 by
smutny