The ROBOTIS OpenMANIPULATOR PRO RM-P60-RNH is a robotic arm designed for industrial research tasks with both a high payload and repeatability.
The OpenMANIPULATOR PRO has 6DOF (lines of freedom), which are formed by DYNAMIXEL PRO+ servomotors. As a result, a payload of 3 kg is possible with a repeat accuracy of 0.05 mm.
Control
The installed DYNAMIXEL Pro+ servo motors not only have a high torque of up to 44.7N but also integrated power electronics, which process the incoming and outgoing 8bit data sets as well as evaluating the contactless absolute encoder and controlling the brushless motor.
As a result, no external motor driver / control electronics are required, only a host PC, which carries out the computing operations.
Either the ROBOTIS U2D2 or the OpenCR1.0 can be used for communication between the OpenMANIPULATOR and the host PC. In addition, the robot arm was fully implemented in the ROS middleware and a 3D model was created for simulation in Gazebo.
DYNAMIXEL Pro+
The ROBOTIS Dynamixel Pro+ servomotors have different performance values, dimensions and interfaces, offering a wide variety. The Dynamixel Pro+ H54P-200-S500-R has a planetary gearbox with integrated encoder, enabling up to 1,003,846 steps/revolution. In addition, 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 control
- PID controller for internal position control and correction
Downloads
Technical data
- Degrees of freedom: 6DOF
- Load capacity: 3kg
- Reach: 645mm
- Repeat accuracy: 0.05mm
- Weight: 5Kg
- Operating voltage: 24V
