ROS-Industrial support for the Staubli TX90 (and variants).
This package contains configuration data, 3D models and launch files
for Staubli TX90 manipulators. This includes the base model,
as well as models with extended arm and forearm links.
Specifications:
TX90 - Standard Arm - Nominal Speed
TX90L - Long Arm - Nominal Speed
TX90XL - Extra Long Arm - Nominal Speed
Joint limits, torque limits, and maximum joint velocities are based on the
information in the Staubli Robotics - TX series 90 family -
Instruction Manual version D28082904C – 01/12/2014.
All urdfs are based on the default motion and joint velocity limits,
unless noted otherwise (ie: no support for high speed joints, extended /
limited motion ranges or other options).
Before using any of the configuration files and / or meshes included
in this package, be sure to check they are correct for the particular
robot model and configuration you intend to use them with.
NB (1): Masses, center of mass and moments of inertia were calculated
using Solidworks and the official Staubli CAD models, and may not be
accurate.
NB (2): In order to allow maximum torque on axis 6, effort limit on
axis 5 was set to 29 Nm, rather than a feasible 58 Nm if torque on
axis 6 = 0 Nm (see superscripts (1) and (2) from table in Section 2.6.2
-Torque Limits- of the instruction manual for details).
Contributors:
This support package has received contributions from: Panagiotis
Sotiropoulos (Ocado Technology) (TX90/TX90L/TX90XL).
Maintainer status: developed
Maintainer: G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn AT tudelft DOT nl>
ROS-Industrial support for the Staubli TX90 (and variants).
This package contains configuration data, 3D models and launch files
for Staubli TX90 manipulators. This includes the base model,
as well as models with extended arm and forearm links.
Specifications:
TX90 - Standard Arm - Nominal Speed
TX90L - Long Arm - Nominal Speed
TX90XL - Extra Long Arm - Nominal Speed
Joint limits, torque limits, and maximum joint velocities are based on the
information in the Staubli Robotics - TX series 90 family -
Instruction Manual version D28082904C – 01/12/2014.
All urdfs are based on the default motion and joint velocity limits,
unless noted otherwise (ie: no support for high speed joints, extended /
limited motion ranges or other options).
Before using any of the configuration files and / or meshes included
in this package, be sure to check they are correct for the particular
robot model and configuration you intend to use them with.
NB (1): Masses, center of mass and moments of inertia were calculated
using Solidworks and the official Staubli CAD models, and may not be
accurate.
NB (2): In order to allow maximum torque on axis 6, effort limit on
axis 5 was set to 29 Nm, rather than a feasible 58 Nm if torque on
axis 6 = 0 Nm (see superscripts (1) and (2) from table in Section 2.6.2
-Torque Limits- of the instruction manual for details).
Contributors:
This support package has received contributions from: Panagiotis
Sotiropoulos (Ocado Technology) (TX90/TX90L/TX90XL).
Maintainer status: maintained
Maintainer: G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn AT tudelft DOT nl>
ROS-Industrial support for the Staubli TX90 (and variants).
This package contains configuration data, 3D models and launch files
for Staubli TX90 manipulators. This includes the base model,
as well as models with extended arm and forearm links.
Specifications:
TX90 - Standard Arm - Nominal Speed
TX90L - Long Arm - Nominal Speed
TX90XL - Extra Long Arm - Nominal Speed
Joint limits, torque limits, and maximum joint velocities are based on the
information in the Staubli Robotics - TX series 90 family -
Instruction Manual version D28082904C – 01/12/2014.
All urdfs are based on the default motion and joint velocity limits,
unless noted otherwise (ie: no support for high speed joints, extended /
limited motion ranges or other options).
Before using any of the configuration files and / or meshes included
in this package, be sure to check they are correct for the particular
robot model and configuration you intend to use them with.
NB (1): Masses, center of mass and moments of inertia were calculated
using Solidworks and the official Staubli CAD models, and may not be
accurate.
NB (2): In order to allow maximum torque on axis 6, effort limit on
axis 5 was set to 29 Nm, rather than a feasible 58 Nm if torque on
axis 6 = 0 Nm (see superscripts (1) and (2) from table in Section 2.6.2
-Torque Limits- of the instruction manual for details).
Contributors:
This support package has received contributions from: Panagiotis
Sotiropoulos (Ocado Technology) (TX90/TX90L/TX90XL).
Maintainer status: maintained
Maintainer: G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn AT tudelft DOT nl>
