Can you please add this robot to the catalogs?

[sebandraos]

We are more than happy to prioritise the addition of different robots according to demand. We will endeavour to keep the list below up to date with requests as they are presented to us.

Feel free to comment with any requests but note that we are a small team and guarantee no timings on the addition of the robots and requests for updates will not accelerate the process.

Current list

[Done] Model Reach/Payload (if necessary to differentiate)

ABB

• IRB 120
• IRB 1200 0.70
• IRB 1200 0.90
• IRB 140
• IRB 1600 1.20
• IRB 1600 1.45
• IRB 2600 1.65
• IRB 2600 1.85
• IRB 4400
• IRB 4400L
• IRB 4600 2.05/45
• IRB 4600 2.05/60
• IRB 4600 2.50
• IRB 4600 2.55
• IRB 6620 2.20
• IRB 6640 2.55
• IRB 6640 2.75
• IRB 6640 2.80
• IRB 6640 3.20
• IRB 6640ID 2.55
• IRB 6640ID 2.75
• IRB 6650S 3.00
• IRB 6650S 3.50
• IRB 6650S 3.90
• IRB 6700 2.60
• IRB 6700 2.65
• IRB 6700 2.70
• IRB 6700 2.80
• IRB 6700 2.85
• IRB 6700 3.00
• IRB 6700 3.05
• IRB 6700 3.20
• IRB 7600 2.55/500
• IRB 7600 2.80
• IRB 7600 3.10
• IRB 7600 3.50

KUKA

• KR5 Sixx 0.65
• KR5 Sixx 0.85
• KR6 Agilus 0.70
• KR6 Agilus 0.90
• KR10 Agilus 0.90
• KR10 Agilus 1.10
• KR30-3
• KR90 Quantec 2.70
• KR90 Quantec 3.10
• KR120 Quantec 2.50
• KR120 Quantec 2.90
• KR150 Quantec 2.70
• KR150 Quantec 3.10
• KR180 Quantec 2.50
• KR180 Quantec 2.90
• KR210 Quantec 2.70
• KR210 Quantec 3.10
• KR240-2
• KR240 L180-2
• KR240 Quantec 2.50
• KR240 Quantec 2.70
• KR240 Quantec 2.90
• KR270 Quantec
• KR300 Quantec
• KR500-2 MT
• KR1000 Titan 3.20
• KR1000 Titan 3.60

Stäubli

• TX-40
• TX-60
• TX-60L
• TX-90
• TX-90L
• TX-90XL
• TX-200
• TX-200L
• TX-340 SH
• RX-130B
• RX-160
• RX-160 HD
• RX-160L
• TX2-40
• TX2-60
• TX2-60L
• TX2-90
• TX2-90L
• TX2-90XL

Universal Robots

• UR3
• UR5
• UR10
• UR3e
• UR5e
• UR10e

[lionpeloux]

I believe I've finally managed to construct my KUKA KR500-2 MT arm from scratch by assembling parts and joints. Maybe you could check my GH definition and share it as an example file in this repo ?

I still hope I'll see my robot in your catalog in a next release :)

HAL - custom arm definition.gh.zip

[lionpeloux]

Updated version with a robot on a linear unit. The table is supposed to be able to rotate but I could not yet find how to embed it in to the whole mechanism.

HAL - custom cell definition (linked track).gh.zip

[sebandraos]

@lionpeloux Whilst we appreciate your use of the software, and congratulations on creating your own arm, this is getting a little off topic.

[lionpeloux]

Understood! Still, it would be good to have a place with ressources to know how to model a cell with components that are not in the catalog as there are no docs covering the topic at the moment ?

[sebandraos]

We have been heavily redeveloping the core software and have been hesitant to invest too much in documentation thus far because it was very quickly made obsolete by changes to the software. As the core begins to stabilise (as it is now) we will begin to add more and more documentation including mechanism creation and external axis programming. Unfortunately we are a small team and documentation takes time to get right.

[lionpeloux]

Hi Seb. I do really appreciate the work of your team and I'm looking forward to the next releases so I can test the new HAL in a production context. Doc is always a tuff topic.

[STEPPING3DCAD]

Hi Seb,
Can we also add IRB6640-185/2.8 to the list. Thought I'd comment here rather than creating a new issue... Hope this is OK.
Thanks!

[sebandraos]

@STEPPING3DCAD @lionpeloux Both your robots are now live

[joakimmalare]

I'd love to see ABB IRB 6400RF 2.8/200 M2004 added. I know it's a tricky setup, but it's a great model :)

Thanks,
Joakim

[sebandraos]

Hi @joakimmalare , we're currently rewriting a lot of our IK solvers to facilitate the integrate of complex configurations like the IRB 6400RF. That said, ABB no longer have the models publicly available for that particular robot so we'll have to look into obtaining it directly from them. Is this a robot you actually have or are you just keen on the piston/parallelogram combo? If it's just for the crazy kinematic architecture then we will be adding the IRB 8700 when the new IKs are ready and that's got a very similar kinematic architecture

[joakimmalare]

Hi Sebastian,

It's a model I was recommended for milling thanks to it's higher precision, so I'm in the process of buying one. I might know someone at ABB who can help with getting a digital model of it, I'll see what I can do. Out of curiosity - is the kinematics for the parallelogram a requirement for getting functional code? If it's mostly for an accurate simulation preview of that linkage, I can live without the added movements... As long as the actual results are equal of course ;)

[sebandraos]

It will depend somewhat on what the controller considers to be axis 3. In the case of the 8700 the parallelogram is necessary for correct joint positions but not the pistons. As they appear to have a very similar configuration I suspect that same will be true of the 6640-M2004. Before you buy a robot please check which ABB controller you will be getting with it. We only support the IRC5 for now and if we do, maybe one day, support the S4C, the functionality will be severely reduced compared to the IRC5. The IRC5 superseded the S4C 15 years ago.

[joakimmalare]

Thank you Sebastian for quick replies.

The robot I have been offered is an IRB 6400 RF (I assume you made a typo above) with IRC5, so the controller part shouldn't be a problem.