3D-Modelle und Quellen / 3D models and sources Automotive production — example body-in-white cell. Body: own parametric four-door saloon body-in-white, created for this website. No external car model is used. Underbody, side frames and roof module with their outer skin, door apertures, flanges, box sections, weld spot pattern, pressed floor, tunnel, wheel housings, suspension towers, roof bows and front structure are generated from the design data in this project. The design is fictional and not based on any manufacturer's vehicle; it is an illustration, not production CAD or an OEM project. The material zones of the materials view are illustrative, not data of a real body. Robot link geometry: ROS-Industrial KUKA experimental, KR 210 L150 support. Package author: Shaun Edwards. Revision 8d9292b04a22628b1b78d989e2ddd3abb913bf92. Source: https://github.com/ros-industrial/kuka_experimental/tree/8d9292b04a22628b1b78d989e2ddd3abb913bf92/kuka_kr210_support The package declares BSD; the root LICENSE at this revision is Apache 2.0, reproduced below. The source package declaration is preserved after it. Changes: conversion, duplicate-surface removal, reduced tessellation, smoothed normals, new materials. Welding tools, framing portal, overhead conveyor, laser-brazing gantries, sparks, lighting and the animation are original additions. Both declared licences (BSD and Apache 2.0) permit use, modification and redistribution with notice; both notices are provided here. Lighting environment: University Workshop, Savva Zakharov, Poly Haven, CC0. Source: https://polyhaven.com/a/university_workshop Changes: reduced resolution, used as the light reference for the authored hall. The web reflection map includes that hall and equipment in a representative working pose, captured at 1.7 m height. Workpieces are excluded. The static map is prefiltered to 128-pixel CubeUV faces and gzip compressed; it is not exact dynamic reflection tracing. Floor roughness and normal maps: Smooth Concrete Floor, Dimitrios Savva, Poly Haven, CC0. Source: https://polyhaven.com/a/smooth_concrete_floor Changes: resized to 512 pixels, encoded as WebP, repeated at metre scale. Steel roughness and OpenGL normal maps: Metal 012, ambientCG / Lennart Demes, CC0. Source: https://ambientcg.com/view?id=Metal012 License: https://docs.ambientcg.com/license/ Changes: resized to 512 pixels, roughness range narrowed, normal strength reduced, encoded as WebP and repeated at metre scale. Procedural material, not a body scan. Hall, conveyor, fixture, tools and process animation: created for this website. This is a simplified illustration. No endorsement or OEM project is claimed. 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ROS-Industrial support for the KUKA KR 210 (and variants).

This package contains configuration data, 3D models and launch files for KUKA KR 210 manipulators. This currently includes the L150 only.

Specifications:

Joint limits and maximum joint velocities are based on the information found in the online datasheet. All urdfs are based on the default motion and joint velocity limits, unless noted otherwise.

Before using any of the configuration files and / or meshes included in this package, be sure to check they are correct for the particular robot model and configuration you intend to use them with.

NB: this package currently uses non-valid inertia parameters.

Shaun Edwards Shaun Edwards BSD http://wiki.ros.org/kuka_kr210_support https://github.com/ros-industrial/kuka_experimental/issues https://github.com/ros-industrial/kuka_experimental catkin roslaunch industrial_robot_client joint_state_publisher robot_state_publisher rviz xacro