Add Kuka Kr 6 R1820

kuka_kr6_support/CMakeLists.txt

@@ -11,6 +11,7 @@ if (CATKIN_ENABLE_TESTING)
   roslaunch_add_file_check(test/roslaunch_test_kr6r700sixx.xml)
   roslaunch_add_file_check(test/roslaunch_test_kr6r900sixx.xml)
   roslaunch_add_file_check(test/roslaunch_test_kr6r900_2.xml)
+  roslaunch_add_file_check(test/roslaunch_test_kr6r1820.xml)
 endif()
 
 install(DIRECTORY config launch meshes urdf

kuka_kr6_support/config/joint_names_kr6r1820.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6']

kuka_kr6_support/config/opw_kinematics_kr6r700sixx.yaml

@@ -16,5 +16,5 @@ opw_kinematics_geometric_parameters:
   c2:  0.315
   c3:  0.365
   c4:  0.080
-opw_kinematics_joint_offsets: [0.0, -1.57079632679, 0, 0, 0, 0]
+opw_kinematics_joint_offsets: [0.0, deg(-90.0), 0.0, 0.0, 0.0, 0.0]
 opw_kinematics_joint_sign_corrections: [-1, 1, 1, -1, 1, -1]

kuka_kr6_support/config/opw_parameters_kr6r1820.yaml

@@ -0,0 +1,21 @@
+#
+# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist)
+# kinematic configurations, as described in the paper "An Analytical Solution
+# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an
+# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur
+# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop
+# 2014, 22-23 May, 2014, Linz, Austria).
+#
+# The moveit_opw_kinematics_plugin package provides such a solver.
+#
+opw_kinematics_geometric_parameters:
+    a1:  0.150
+    a2:  -0.02
+    b:   0.000
+    c1:  0.450
+    c2:  0.810
+    c3:  0.860
+    c4:  0.080
+opw_kinematics_joint_offsets: [0.0, deg(-90.0), 0.0, 0.0, 0.0, 0.0]
+opw_kinematics_joint_sign_corrections: [-1, 1, 1, -1, 1, -1]
+

kuka_kr6_support/launch/load_kr6r1820.launch

@@ -0,0 +1,4 @@
+<?xml version="1.0"?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr6_support)/urdf/kr6_r1820.xacro'"/>
+</launch>

kuka_kr6_support/launch/test_kr6r1820.launch

@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find kuka_kr6_support)/launch/load_kr6r1820.launch" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="true" />
+  </node>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

kuka_kr6_support/package.xml

@@ -9,35 +9,50 @@
     <p>
       This package contains configuration data, 3D models and launch files
       for KUKA KR 6 manipulators. This currently includes the R700 sixx,
-      the R900 sixx and the R900-2.
+      the R900 sixx, the R900-2 and the R1820.
     </p>
     <p><b>Specifications</b>:</p>
     <ul>
       <li>KR 6 R700 sixx - Default</li>
       <li>KR 6 R900 sixx - Default</li>
       <li>KR 6 R900-2 - Default</li>
+      <li>KR 6 R1820 - Default</li>
     </ul>
     <p>
       Joint limits and maximum joint velocities for sixx models are based on the information
       in the <em>KUKA Roboter GmbH - KR AGILUS sixx - With W and C Variants -
       Specification</em> version <em>Spez KR AGILUS sixx V12, 26.03.2015</em>.
+      All urdfs are based on the default motion and joint velocity limits,
+      unless noted otherwise (ie: no support for high speed joints,
+      extended / limited motion ranges or other options).
+    </p>
+    <p>
       Joint limits and maximum joint velocities for R900-2 are based on the information
       in the <em>KUKA Deutschland GmbH - Robots KR AGILUS-2 Specification</em> version <em>V4, 26.02.2019</em>.
       All urdfs are based on the default motion and joint velocity limits,
       unless noted otherwise (ie: no support for high speed joints,
       extended / limited motion ranges or other options).
     </p>
+    <p>
+      Note: the KR6 R900-2 urdf reuses meshes from the <em>kuka_kr10_support</em> package because of their identical appearance.
+    </p>
+    <p>
+      Joint limits and maximum joint velocities for R1820 are based on the information
+      in the <em>KUKA Roboter GmbH - KR 6 R1820 data sheet</em> version <em>V51.1, 28.01.2021</em>.
+      All urdfs are based on the default motion and joint velocity limits,
+      unless noted otherwise (ie: no support for high speed joints,
+      extended / limited motion ranges or other options).
+    </p>
     <p>
       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.
     </p>
-    <p>
-      Note: the KR6 R900-2 urdf reuses meshes from the <em>kuka_kr10_support</em> package because of their identical appearance.
-    </p>
   </description>
   <author>G.A. vd. Hoorn (TU Delft Robotics Institute)</author>
   <author>Brett Hemes (3M)</author>
+  <author email="timo.birnkraut@optonic.com">Timo Birnkraut (Optonic GmbH)</author>
+  <author email="christian.juelg@optonic.com">Christian Juelg (Optonic GmbH)</author>
   <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
   <license>BSD</license>
 

kuka_kr6_support/test/roslaunch_test_kr6r1820.xml

@@ -0,0 +1,9 @@
+<launch>
+  <group ns="load_kr6r1820__">
+    <include file="$(find kuka_kr6_support)/launch/load_kr6r1820.launch"/>
+  </group>
+
+  <group ns="test_kr6r1820__">
+    <include file="$(find kuka_kr6_support)/launch/test_kr6r1820.launch"/>
+  </group>
+</launch>

kuka_kr6_support/urdf/kr6_r1820.xacro

@@ -0,0 +1,6 @@
+<?xml version="1.0" ?>
+
+<robot name="kuka_kr6_r1820" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_kr6_support)/urdf/kr6_r1820_macro.xacro"/>
+  <xacro:kuka_kr6_r1820 prefix=""/>
+</robot>

kuka_kr6_support/urdf/kr6_r1820_macro.xacro

@@ -0,0 +1,179 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+
+  <xacro:macro name="kuka_kr6_r1820" params="prefix">
+    <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+    <link name="${prefix}base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr6_support/meshes/kr6r1820/visual/base_link.stl" />
+        </geometry>
+        <xacro:material_kuka_pedestal />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr6_support/meshes/kr6r1820/collision/base_link.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr6_support/meshes/kr6r1820/visual/link_1.stl" />
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr6_support/meshes/kr6r1820/collision/link_1.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr6_support/meshes/kr6r1820/visual/link_2.stl" />
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr6_support/meshes/kr6r1820/collision/link_2.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_3">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr6_support/meshes/kr6r1820/visual/link_3.stl" />
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr6_support/meshes/kr6r1820/collision/link_3.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_4">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr6_support/meshes/kr6r1820/visual/link_4.stl" />
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr6_support/meshes/kr6r1820/collision/link_4.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_5">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr6_support/meshes/kr6r1820/visual/link_5.stl" />
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr6_support/meshes/kr6r1820/collision/link_5.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_6">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr6_support/meshes/kr6r1820/visual/link_6.stl" />
+        </geometry>
+        <xacro:material_kuka_pedestal />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr6_support/meshes/kr6r1820/collision/link_6.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- This frame corresponds to the $FLANGE coordinate system in KUKA KRC controllers. -->
+    <link name="${prefix}tool0" />
+
+    <!-- JOINTS -->
+    <!-- joint 1 (A1) -->
+    <joint name="${prefix}joint_a1" type="revolute">
+      <origin xyz="0 0 0.450" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}link_1"/>
+      <axis xyz="0 0 -1"/>
+      <limit effort="0" lower="${radians(-170)}" upper="${radians(170)}" velocity="${radians(220)}"/>
+    </joint>
+    <!-- joint 2 (A2) -->
+    <joint name="${prefix}joint_a2" type="revolute">
+      <origin xyz="0.150 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_1"/>
+      <child link="${prefix}link_2"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${radians(-185)}" upper="${radians(65)}" velocity="${radians(210)}"/>
+    </joint>
+    <!-- joint 3 (A3) -->
+    <joint name="${prefix}joint_a3" type="revolute">
+      <origin xyz="0.810 0 0.0" rpy="0 0 0"/>
+      <parent link="${prefix}link_2"/>
+      <child link="${prefix}link_3"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${radians(-137)}" upper="${radians(163)}" velocity="${radians(270)}"/>
+    </joint>
+    <!-- joint 4 (A4) -->
+    <joint name="${prefix}joint_a4" type="revolute">
+      <origin xyz="0.0 0 0.02" rpy="0 0 0"/>
+      <parent link="${prefix}link_3"/>
+      <child link="${prefix}link_4"/>
+      <axis xyz="-1 0 0"/>
+      <limit effort="0" lower="${radians(-185)}" upper="${radians(185)}" velocity="${radians(381)}"/>
+    </joint>
+    <!-- joint 5 (A5) -->
+    <joint name="${prefix}joint_a5" type="revolute">
+      <origin xyz="0.860 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_4"/>
+      <child link="${prefix}link_5"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${radians(-120)}" upper="${radians(120)}" velocity="${radians(311)}"/>
+    </joint>
+    <!-- joint 6 (A6) -->
+    <joint name="${prefix}joint_a6" type="revolute">
+      <origin xyz="0.080 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_5"/>
+      <child link="${prefix}link_6"/>
+      <axis xyz="-1 0 0"/>
+      <limit effort="0" lower="${radians(-350)}" upper="${radians(350)}" velocity="${radians(492)}"/>
+    </joint>
+    <!-- tool frame - fixed frame -->
+    <joint name="${prefix}joint_a6-tool0" type="fixed">
+      <parent link="${prefix}link_6"/>
+      <child link="${prefix}tool0"/>
+      <origin xyz="0.0 0 0" rpy="0 ${radians(90)} 0"/>
+    </joint>
+    <!-- END JOINTS -->
+
+    <!-- ROS base_link to KUKA $ROBROOT coordinate system transform -->
+    <link name="${prefix}base" />
+    <joint name="${prefix}base_link-base" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}base"/>
+    </joint>
+  </xacro:macro>
+</robot>

kuka_kr6_support/urdf/kr6r700sixx_macro.xacro

@@ -1,9 +1,8 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <xacro:include filename="$(find kuka_resources)/urdf/common_constants.xacro"/>
-  <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
 
   <xacro:macro name="kuka_kr6r700sixx" params="prefix">
+    <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
     <link name="${prefix}base_link">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />

kuka_kr6_support/urdf/kr6r900sixx_macro.xacro

@@ -1,9 +1,8 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <xacro:include filename="$(find kuka_resources)/urdf/common_constants.xacro"/>
-  <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
 
   <xacro:macro name="kuka_kr6r900sixx" params="prefix">
+    <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
     <link name="${prefix}base_link">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>