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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.
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.
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.
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.
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>
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>
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>
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>
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>
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
