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cob_common: brics_actuator | cob_default_config | cob_description | cob_goco | cob_machine | cob_msgs | cob_srvs | cob_utilities | cob_vision_utils | desire_description

Package LinksDependencies (3)
Used by (5)

Package Summary

No API documentation

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.

cob_common: brics_actuator | cob_description | cob_goco | cob_srvs | desire_description | raw_description
Package LinksDependencies (5)
Used by (7)

Package Summary

Documented

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.

cob_common: brics_actuator | cob_description | cob_goco | cob_srvs | desire_description | raw_description
Package LinksDependencies (5)
Used by (7)

Package Summary

Documented

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.

cob_common: brics_actuator | cob_description | cob_srvs | desire_description | raw_description
Package LinksDependencies (4)
Used by (8)

Package Summary

Documented

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.

cob_common: brics_actuator | cob_description | cob_srvs | desire_description | raw_description
Package LinksDependencies (4)
Used by (6)

Package Summary

Released
Documented

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)
cob_common: cob_actions | cob_description | cob_msgs | cob_srvs | raw_description
Package LinksDependencies (6)
Used by (11)

Package Summary

Released
Documented

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)
cob_common: cob_actions | cob_description | cob_msgs | cob_srvs | raw_description
Package LinksDependencies (6)
Used by (5)

Package Summary

Released
Documented

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)
cob_common: cob_actions | cob_description | cob_msgs | cob_srvs | raw_description
Package LinksDependencies (6)
Used by (5)
Jenkins jobs (6)

Package Summary

Released
Documented

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)
cob_common: cob_actions | cob_description | cob_msgs | cob_srvs | raw_description
Package LinksDependencies (6)
Used by (5)
Jenkins jobs (6)

Package Summary

Released
Documented

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)

Contents

  1. Urdf versions
    1. Torso
    2. Tray
      1. tray (1 DOF)
      2. tray_powerball (3 DOF)
    3. Head
  2. Generate stl file

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

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

Wiki: cob_description (last edited 2013-12-13 09:58:56 by NadiaHammoudeh)

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