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JOiiNT-LAB / abb_wrapper

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Possible to have robots models/descriptions for new GoFa 10kgs and GoFa 12kgs? #4

Open FLo-ABB opened 1 year ago

FLo-ABB commented 1 year ago

CAD models available on the official website: https://new.abb.com/products/robotics/robots/collaborative-robots/crb-15000

Thank you!

pandreuw commented 5 months ago

Hello, Is there something we can help to add the GoFa 10kg and 12kg? There is a URDF exporter wiki

FLo-ABB commented 5 months ago

There is the Denavit Hartenberg parameters if needed:

GoFa 10
Kinematics 𝜽 [rad] 𝒅 [m] 𝜶 [rad] 𝒂 [m]
Joint 1 0 0,4 −π/2 0,15
Joint 2 −π/2 0 0 0,707
Joint 3 0 0 −π/2 0.11
Joint 4 0 0,637 π/2 0
Joint 5 0 0 −π/2 0.08
Joint 6 π 0.101 0 0
GoFa 12
Kinematics 𝜽 [rad] 𝒅 [m] 𝜶 [rad] 𝒂 [m]
Joint 1 0 0,338 −π/2 0
Joint 2 −π/2 0 0 0,707
Joint 3 0 0 −π/2 0.11
Joint 4 0 0,534 π/2 0
Joint 5 0 0 −π/2 0.08
Joint 6 π 0.101 0 0