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Possible to have robots models/descriptions for new GoFa 10kgs and GoFa 12kgs? #4

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FLo-ABB opened this issue Jul 24, 2023 · 2 comments

FLo-ABB commented Jul 24, 2023

CAD models available on the official website: https://new.abb.com/products/robotics/robots/collaborative-robots/crb-15000

Thank you!

pandreuw commented Apr 3, 2024

Hello,
Is there something we can help to add the GoFa 10kg and 12kg? There is a URDF exporter wiki

Author

FLo-ABB commented Apr 3, 2024

There is the Denavit Hartenberg parameters if needed:

GoFa 10
Kinematics	𝜽 [rad]	𝒅 [m]	𝜶 [rad]	𝒂 [m]
Joint 1	0	0,4	−π/2	0,15
Joint 2	−π/2	0	0	0,707
Joint 3	0	0	−π/2	0.11
Joint 4	0	0,637	π/2	0
Joint 5	0	0	−π/2	0.08
Joint 6	π	0.101	0	0
GoFa 12
Kinematics	𝜽 [rad]	𝒅 [m]	𝜶 [rad]	𝒂 [m]
Joint 1	0	0,338	−π/2	0
Joint 2	−π/2	0	0	0,707
Joint 3	0	0	−π/2	0.11
Joint 4	0	0,534	π/2	0
Joint 5	0	0	−π/2	0.08
Joint 6	π	0.101	0	0

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