Description
Product Name : OpenMANIPULATOR-P
Model Name : RM-P60-RNH
- User Programmable Open-Source Manipulator System
- Modular Platform for Easy Maintenance and Customization
- No External Control Box & High Weight-to-Payload Ratio
Package Components
| OpenMANIPULATOR-P | 1 (Fully-assembled) |
|---|---|
| Hard Case | 1 |
| U2D2 | 1 |
| Spare Cables (4P, 2P) | 1 |
| Screw Sets (WB M3x8 etc) | 1 |
| 4P Expansion Hub | 1 |
H/W Specification
| DOF | 6 |
|---|---|
| Payload (kg) | 3 |
| Repeatability (mm) | ±0.05 |
| Speed (Each joint, deg/sec) | 180 |
| Weight (kg) | 5.5 |
| Reach (mm) | 645 |
| Rated Voltage (VDC) | 24 |
| Communication | RS-485 (Multi Drop Bus) |
| Motor Output / Joint | 200W / 2ea
100W / 2ea 20W / 2ea |
| Software | ROS (Ubuntu Linux) |
| Controller | PC (Not Included) |
S/W Specification
- ROBOTIS Manipulator controller package based on integrated software
- OpenMANIPULATOR-P Library (Kinematics,Trajectory and Dynamixel Controller).
- GUI program package for setting and monitoring control parameters.
- MoveIt! package for OpenMANIPULATOR-P
- Simulation package based on Gazebo Simulator
- Teleoperation examples of keyboard and Joystick
Purpose:
Research and Education
- Kinematics and Dynamics Experiment
- Research and Design a Dual Arm Robot
- Build a Mobile Robot System
Industrial Operation
- Inspection Equipment
- Small-Scale Delivery System
Caution
Power supply and PC are not included. Please purchase separately according to your usage environment.
Factory Default Settings
| ID | 1 |
|---|---|
| Baud Rate | 57600 bps |
(User can change various settings including ID and baud rate according to environment)
If you purchase RH-P12 (Robot Hand) and RM-P60-RNH(OpenMANIPULATOR-P) together, they will be shipped out together in the OpenMANIPULATOR-P`s case.
Features of DYNAMIXEL-P
All-in-one Modular Design
DC Motor + Controller + Driver + Sensor + Cycloid Reduction Gear
Compact and Lightweight
- Minimized module size with compact and lightweight cycloid reduction gear.
- High weight-to-output ratio(0.05Nm/g)
- High impact resistance ( over 400%)
High Precision and Low Backlash
- Contactless (Magnetic) Absolute Encoder(by AMS) & Incremental Encoder for Precise Positioning
- Low backlash (3~4arcmin)
- Performance data provided tested by Korea Laboratory Accreditation Scheme(KOLAS)
Current-Based Torque Control
- High speed current sensing algorithm and current feedback control
- Triple-loop control for current, speed and position feedback.
User Friendly development environment
- Provide C language based library
- Various solution examples (C++, LabVIEW, C#, eclipse, JAVA, etc..)
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