actions: []
api_documentation: http://docs.ros.org/en/melodic/api/staubli_rx160_support/html
authors: G.A. vd. Hoorn (TU Delft Robotics Institute)
brief: ''
bugtracker: https://github.com/ros-industrial/staubli/issues
depends:
- catkin
- industrial_robot_client
- joint_state_publisher
- robot_state_publisher
- roslaunch
- rviz
- staubli_resources
- xacro
depends_on:
- staubli
- staubli_rx160_moveit_config
description: "<p>\n      ROS-Industrial support for the Staubli RX160 (and variants).\n\
  \    </p>\n    <p>\n      This package contains configuration data, 3D models and\
  \ launch files\n      for Staubli RX160 manipulators. This includes the base model\
  \ and the\n      RX160L.\n    </p>\n    <p><b>Specifications</b>:</p>\n    <ul>\n\
  \      <li>RX160 - Standard Arm - Nominal Speed</li>\n      <li>RX160L - Long Arm\
  \ - Nominal Speed</li>\n    </ul>\n    <p>\n      Joint limits, torque limits, and\
  \ maximum joint velocities are based on the\n      information in the <em>Staubli\
  \ Robotics - RX series 160 family -\n      Instruction Manual</em> version <em>D28086504A\
  \ \u2013 19/06/2012</em>.\n      All urdfs are based on the default motion and joint\
  \ velocity limits,\n      unless noted otherwise (ie: no support for high speed\
  \ joints, extended /\n      limited motion ranges or other options).\n    </p>\n\
  \    <p>\n      Before using any of the configuration files and / or meshes included\n\
  \      in this package, be sure to check they are correct for the particular\n \
  \     robot model and configuration you intend to use them with.\n    </p>\n   \
  \ <p>\n      <b>NB (1)</b>: Masses, center of mass and moments of inertia were calculated\n\
  \      using Solidworks and the official Staubli CAD models, and may not be\n  \
  \    accurate.\n    </p>\n    <p>\n      <b>NB (2)</b>: In order to allow maximum\
  \ torque on axis 6, effort limit on\n      axis 5 was set to 29 Nm, rather than\
  \ a feasible 58 Nm if torque on\n      axis 6 = 0 Nm (see superscripts (1) and (2)\
  \ from table in Section 2.6.2\n      -Torque Limits- of the instruction manual for\
  \ details).\n    </p>\n    <p><b>Contributors</b>:</p>\n    <p>\n      This support\
  \ package has received contributions from: S. van Elderen\n      (RX160) and Murilo\
  \ Martins (Ocado Technology) (RX160/RX160L).\n    </p>"
doc_job: https://build.ros.org/view/Mdoc/job/Mdoc__staubli__ubuntu_bionic_amd64
license: Apache2.0
maintainer_status: maintained
maintainers: G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn@tudelft.nl>
metapackages:
- staubli
msgs: []
package_type: package
repo_name: staubli
repo_url: https://github.com/ros-industrial/staubli
srvs: []
timestamp: 1646120780.6493337
url: http://ros.org/wiki/staubli_rx160_support
vcs: git
vcs_uri: https://github.com/ros-industrial/staubli.git
vcs_version: indigo-devel
