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Package Summary
This package contains the description (mechanical, kinematic, visual, etc.) of the Care-O-bot robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.
- Author: Florian Weisshardt
- License: LGPL
- Repository: care-o-bot
- Source: git https://github.com/ipa320/cob_common.git
Package Summary
This package contains the description (mechanical, kinematic, visual, etc.) of the Care-O-bot robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.
- Author: Florian Weisshardt
- License: LGPL
- Source: git https://github.com/ipa320/cob_common.git (branch: release_electric)
Package Summary
This package contains the description (mechanical, kinematic, visual, etc.) of the Care-O-bot robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.
- Author: Florian Weisshardt
- License: LGPL
- Source: git https://github.com/ipa320/cob_common.git (branch: release_fuerte)
Package Summary
This package contains the description (mechanical, kinematic, visual, etc.) of the Care-O-bot robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.
- Author: Florian Weisshardt
- License: LGPL
- Source: git https://github.com/ipa320/cob_common.git (branch: groovy)
Package Summary
This package contains the description (mechanical, kinematic, visual, etc.) of the Care-O-bot robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.
- Maintainer status: developed
- Maintainer: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: LGPL
- Source: git https://github.com/ipa320/cob_common.git (branch: hydro_release_candidate)
Package Summary
This package contains the description (mechanical, kinematic, visual, etc.) of the Care-O-bot robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.
- Maintainer status: maintained
- Maintainer: Felix Messmer <felixmessmer AT gmail DOT com>
- Author: Nadia Hammoudeh Garcia <nhg AT ipa.fhg DOT de>, Florian Weisshardt <fmw AT ipa.fhg DOT de>, Felix Messmer <fxm AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_common.git (branch: indigo_release_candidate)
Package Summary
This package contains the description (mechanical, kinematic, visual, etc.) of the Care-O-bot robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.
- Maintainer status: developed
- Maintainer: Felix Messmer <felixmessmer AT gmail DOT com>
- Author: Nadia Hammoudeh Garcia <nhg AT ipa.fhg DOT de>, Florian Weisshardt <fmw AT ipa.fhg DOT de>, Felix Messmer <fxm AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_common.git (branch: kinetic_release_candidate)
Package Summary
This package contains the description (mechanical, kinematic, visual, etc.) of the Care-O-bot robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.
- Maintainer status: maintained
- Maintainer: Felix Messmer <felixmessmer AT gmail DOT com>
- Author: Nadia Hammoudeh Garcia <nhg AT ipa.fhg DOT de>, Florian Weisshardt <fmw AT ipa.fhg DOT de>, Felix Messmer <fxm AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_common.git (branch: kinetic_release_candidate)
Package Summary
This package contains the description (mechanical, kinematic, visual, etc.) of the Care-O-bot robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.
- Maintainer status: maintained
- Maintainer: Felix Messmer <felixmessmer AT gmail DOT com>
- Author: Nadia Hammoudeh Garcia <nhg AT ipa.fhg DOT de>, Florian Weisshardt <fmw AT ipa.fhg DOT de>, Felix Messmer <fxm AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_common.git (branch: kinetic_release_candidate)
Urdf versions
This package contains the description of the components of Care-O-bot robots, inside the folder urdf you can find different models and versions, the following table explain the distribution:
Torso
Version number |
description |
used in robot |
torso_v0 |
Torso with 2 PW (2 pan links and 2 tilt links) |
cob3-1 and cob3-2 |
torso_v1 |
Torso with 3PRL (1 pan link and 2 tilt links) |
cob3-3, cob3-4 and cob3-6 |
Each joint has predefined limits:
|
torso_1_joint |
torso_2_joint |
torso_3_joint |
|||
|
lower_limit |
upper_limit |
lower_limit |
upper_limit |
lower_limit |
upper_limit |
urdf limit |
-0,22 |
0,22 |
-0,22 |
0,22 |
-0,37 |
0,37 |
hardware limit |
-0,25 |
0,25 |
-0,25 |
0,25 |
-0,40 |
0,40 |
Tray
Version |
description |
used in robot |
tray |
Tray with 1 PRL |
cob3-1, cob3-2, cob3-3, cob3-4 and cob3-7 |
tray_powerball |
Tray with 1 PRL and 1 ERB |
cob3-5 and cob3-6 |
Each joint has predefined limits:
tray (1 DOF)
|
tray_1_joint |
|
|
lower_limit |
upper_limit |
urdf limit |
-3,3 |
0,2 |
hardware limit |
-3,33 |
0,23 |
tray_powerball (3 DOF)
|
tray_1_joint |
tray_2_joint |
tray_3_joint |
|||
|
lower_limit |
upper_limit |
lower_limit |
upper_limit |
lower_limit |
upper_limit |
urdf limit |
-1,37 |
0,02 |
-3,16 |
3,16 |
-3,16 |
3,16 |
hardware limit |
-1,4 |
0,05 |
-3,19 |
3,19 |
-3,19 |
3,19 |
Head
Version number |
description |
used in robot |
head_v1 |
Head with 2 AVT Pike C145 and Kinect |
cob3-1 |
head_v2 |
Head with AVT Prosilica GigE and Mesa Swissranger |
cob3-2 |
head_v3 |
Head with 2 AVT Prosilica GigE and Kinect |
cob3-3, cob3-4 and cob3-6 |
In the package cob_hardware_config you can find for each robot the urdf file that load the component descriptions together.
Generate stl file
We used Solidworks to generate stl files. Please pay attention to the following issues while generating new stl file:
define a new reference coordinate system in SolidWorks and export the stl file using this reference coordinate system.
- the mesh size (amount of triangles) is limited to ?32000?
- the stl file should not begin with "solid", therefore substitute the string "solid" e.g. with "robot" using
sed -i '0,/RE/s/solid/robot/' */*.stl
