help:common:robot_mitsubishi_rv-6s [CourseWare Wiki]

Mitsubishi robot RV-6S

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 for Matlab . This method is obsolete and it is not supported anymore.

RS-232 connection

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:
- 38.400 kbps,
- 8 bits (default),
- parity even (default),
- two stopbits (default),
- DTR checked,
- RTS/CTS checked,
- XON/XOFF unchecked,
- non-procedural (default),
- terminator 'CR' (default).

Manuals

Calibration data

The robot was calibrated using jigs April 30th 2010. Here are the calibration data (most probably obsolete):
D: I?Q #TO
1: YR4 GZT
2: E9K T2E
3: 01P MBN
4: YTY BO@
5: 17$ WFS
6: Z2W 348

Denavit-Hartenberg notation

`Joint`	`α`	`a`	`Θ`	`d`	`parameter range`
`1`	`-90`	`85`	`parameter`	`350`	`< -170; 170 >`
`2`	`0`	`280`	`-90 + parameter`	`0`	`< -92; 135 >`
`3`	`-90`	`100`	`-90 + parameter`	`0`	`< -107; 166 >`
`4`	`90`	`0`	`parameter`	`315`	`< -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 millimeters. The Base is eye matrix and there is no Tool installed. The parameter range is in degrees and is the maximum possible range.