Invite-Robotics

Integration of the CSDA10F Motoman Robot with Robotiq grippers and custom sensors for developing of robotics applications at Invite Research Center.

Installation

For instructions of installation and project setup see the repository wiki

Dual arm motion planning with the configured CSDA10F robot URDF and Moveit configuration package

Project Objectives

• Integration of the Motoman CSDA10F dual arm robot and FS100 controller with ROS framework
• Reduction of training time/ROS learning curve of Invite's emproyees by performing all the necesary robot/packages configuration and a series of tutorials and examples based directly on the CSDA10F.

URDF Dependencies

Yaskawa Motoman CSDA10F

The Universal Robot Description Files (URDF) of this robot were taken from the repository motoman_csda10f_support.

Robotiq 2-Finger Adaptive Grippers

The Robotiq URDF files were taken from:

• Gripper with 85mm stroke: beta-bobots
• Gripper with 140mm stroke: ros-industrial/robotiq