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ENABOT-YAO

第一代个人机械臂。

电气

电机及驱动

东方减速步进电机套件。

运动控制器

Galil DMC-2183/DMC-4080。

主控单元

安装Ubuntu系统的PC。

目前正在开发基于ODRIVE和VESC的开源无刷电机驱动及控制单元。

机械

已完成。主要参考ABB IRB 14000机械臂。

软件

未完成。目前仅完成基于ROS的MOVEIT+GAZEBO仿真系统搭建。

enabot_arm_r_perspect_1440 enabot_arm_r_bomb_perspect_800 enabot_arm_r_bomb_top_800

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