We will work with two of the most popular ABB industrial robot models: IRB 2400 and IRB 6640. The following are the images of these two robots and their specifications:
Figure 10: ABB IRB 2400 and IRB 6640
The specification of these robotic arms is given in the following table:
|
Robot |
IRB 2400-10 |
IRB 6640-130 |
|
Working radius |
1.55 m |
3.2 m |
|
Payload |
12 kg |
130 kg |
|
Weight |
380 kg |
1,310-1,405 kg |
|
Footprint |
723x600 mm |
1,107 x 720 mm |
To work with ABB packages, clone the ROS packages of the robot into the catkin workspace. We can use the following command to do this task:
$ git clone https://github.com/ros-industrial/abb
Then, build the source packages using catkin_make. Alternatively, we can also install packages using the Ubuntu/Debian package management system. However, to follow the reminder...
