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General information
Yoshua Nava edited this page Mar 5, 2018
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ridgeback_yumi is the name given to a robot built at KTH RPL, that attempts to fulfill the role and functions of PR2. It is a modular system comprised of an ABB YuMi IRB14000 7-DoF dual arm manipulator, and a Clearpath Ridgeback mobile base.
For reference on how to setup each of these robots seperately, check the wikis that we have prepared for them:
At this moment, the ridgeback_yumi that we have at Lab 704 has the following accessories on top of it:
- TP-LINK TL-WR941ND 450 Mbps Wireless N Router
- Maxxtro Power Outlet Strip, with power switch, 1.5m cable, and 9xF (CEE 7/3) outlets. Electrical plug modified to American so that it can fit into the Ridgeback inverter.
- 2 x Optoforce 6-axis Force/Torque sensors, attached to YuMi with custom mounts.
- 2 x Optoforce Ethernet converter
- ABB FlexPendant for YuMi
- Kinect for Xbox One
- NVIDIA Jetson TX1 Development Kit
Previous components, known to work well:
- Intel NUC5i7RYH
- D-Link EXO AC1750 Wi-Fi Router. (Note that this router can be quite slow starting up)