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

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Mitsubishi robot RV-6S

How to use it

Cameras are working. One can use FlyCap - SW by Pointgrey, which allows to grab images or test the camera, is placed at

C:\Program Files\Point Grey Research\FlyCapture2\bin\FlyCap2.exe (shortcut is placed on the desktop).

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 This method is obsolete and it is not supported anymore.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

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:

COM3:,
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

manuals (private access)
Manufacturers site
Mild start
Local representative of the manufacturer Mitsubishi, Autocont, ing. Begeš

Calibration data

The robot was calibrated using jigs April 30th 2010. Here are the calibration data:
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 milimeters. The Base is eye matrix and there is no Tool installed. The parameter range is in degrees and is the maximum possible range.