Add: Implement ABB CRB15000

[ar0551]

Implementing the new ABB CRB15000. This requires a modification in the kinematics engine to account for the offset on axis 5.
Test implementation with custom robot:
CRB15000.zip

[arjendeetman]

Hi Andrea,

I just released a new version of Robot Components (v1.2.0). I already added the CRB15000 as a preset. At the moment it is only accessible via the API since I still need to modify the inverse kinematics.

I know you are a Python fan. If you already want to use the preset (without proper IK) via Python you can load it as follows:

Best,

Arjen

[ar0551]

Awesome, thanks! I will check if straight away.

[Souuuuurabh]

Hi, Thank you for adding this! Can I please check with you if this updated? I am trying with the latest build but the preset doesnt show CRB15000 yet. Thank you so much!

[giulpio]

Hi @Souuuuurabh, I had this problem and I found the naming is a little different now. try this

import clr
## Import Robot Components
clr.AddReference("RobotComponents.ABB.dll")
import RobotComponents.ABB as rc

# Construct a robot
robot = rc.Presets.Robots.CRB15000_5_095.GetRobot(AP, tool)

[akudless]

Any update on the GoFa being added to the IK solver? I tried to add it via the API in version 3.0.0. but couldn't get it to work. Thanks!

[akudless]

Follow-up with more explanation: I am trying to add the CRB1500_10_152 via the API, but when I do, there is a runtime error. See below. I'm just testing via the API example file. I am using the v3.0.0 release and I see in the code that there is the preset for the CRB15000_10_152, so what is causing the error? Thanks.

[arjendeetman]

Hi @akudless,

About your first question, we are working on a solution. I hope that more info/a release will follow soon.

Your second question: You are trying to get the preset from an enum. However, this doesn't work yet since then it would show up in the list with presets of the 'robot presets components'. You need to do it like this:

import clr
clr.AddReference("RobotComponents.ABB.Presets.dll")

import RobotComponents.ABB.Presets as rc

# Three options...
robot = rc.Robots.CRB15000_5_095.GetRobot(plane, tool)
robot = rc.Robots.CRB15000_12_127.GetRobot(plane, tool)
robot = rc.Robots.CRB15000_10_152.GetRobot(plane, tool)    

Still, be aware that the inverse kinematics solver doesn't function (yet).

Best,

Arjen

[akudless]

@arjendeetman Thanks! That makes sense. Got it working now.