RM-P60-RNH ROBOTIS OpenMANIPULATOR PRO RM-P60-RNH

ROBOTIS OpenMANIPULATOR Pro RM-P60-RNH 6DOF

The ROBOTIS OpenMANIPULATOR PRO RM-P60-RNH is a robot arm, designed for industrial research tasks with a high payload and repeatability. The OpenMANIPULATOR PRO has 6DOF (freedom line), which are formed by DYNAMIXEL PRO+ servo motors. It offers a load capacity of 3kg with a repeat accuracy of 0.05mm. The built-in servo motors not only deliver a torque of up to 44.7 Nm, and an integrated power electronics, which processes the incoming & outgoing 8-bit data sets as well as evaluates the contactless absolute encoder and controls the brushless motor. Thus, no external motor driver / control electronics are necessary, but only a host PC, which executes the arithmetic operations. For communication between the OpenMANIPULATOR and the host PC either the ROBOTIS U2D2 or the OpenCR1.0 can be used.

The robot arm was completely implemented in the ROS middleware and a 3D model was created for simulation in Gazebo. The ROBOTIS Dynamixel Pro+ servomotors have different performance values, dimensions and interfaces, which offers a high flexibility. The Dynamixel Pro+ H54P-200-S500-R is equipped with a planetary gear with integrated encoder which allows up to 1 003 846 steps/revolution. Furthermore, the following special functions have been added to the Dynamixel Pro servo motor: Power sensor for torque adjustment. Control algorithm for speed, position and current regulation. PID controller for internal position control and correction.

E-Manual

https://github.com/robotis-git http://emanual.robotis.com/docs/en/platform/openmanipulatorpro/overview/#opensoftware erview/#opensoftware