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Equipment/Staubli: Difference between revisions
From London Hackspace Wiki
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== TODO == | == TODO == | ||
* | * Build a smooth solid table surrounding the arm. | ||
* | * Write the [[Equipment/Staubli/g-code_interpreter|G-code interpreter]] for CNCing and 3d printing. | ||
* Integrate the armpi with the controller better (power it from the 3 phase socket) | |||
* Design and make the electronics for the controller to talk to the arm base (heated bed, calibration probe etc) and the end effector (spindle, extruder) | |||
* Get/print the housings for the robot arm cable | * Get/print the housings for the robot arm cable | ||
* Hook up the arm to ROS | * Hook up the arm to ROS | ||
** Rewrite the ROS Industrial libraries to use a serial stream instead of IP+port combo | |||
** <s>Write the ros serial server to run on the controller </s> | ** <s>Write the ros serial server to run on the controller </s> | ||
** | * <s>Check and top up oil all the joints as per manual instructions 1st 5 axes:http://www.alexoil.co.uk/lumach-ep-gear-oil-iso-68--1l_p115.aspx Wrist:http://www.alexoil.co.uk/lumach-ep-gear-oils-iso-150--1l_p125.aspx</s> | ||
* <s>Replace the battery 6v 8AH lead acid battery - this one: http://uk.rs-online.com/web/p/lead-acid-rechargeable-batteries/2651975/</s> | |||
* <s>Install it in it's dedicated area</s> | * <s>Install it in it's dedicated area</s> | ||
* <s>Make the cable from the arm (han-dd108m, han-dd72/han-K6/36 straight/angled) to the controller</s> Done 24/8/13 Padski | * <s>Make the cable from the arm (han-dd108m, han-dd72/han-K6/36 straight/angled) to the controller</s> Done 24/8/13 Padski | ||
* <s>Make the cable for 3 phase power to controller.</s> | * <s>Make the cable for 3 phase power to controller.</s> | ||
