This repository is a collection of tooling, code, and models related to the FANUC LRMate 200iD industrial robot. The LRMate 200iD is a small, prolific 6-axis serial arm with a 7-kg payload and a 717mm reach introduced in the 2000s. There are several different models of the 200iD with different payloads and reaches, but this repository currently has information related to the standard 717mm version.
The urdf/ folder contains a URDF created by the Solidworks to URDF Exporter plugin. The original model I used was this one from Grabcad.
To use the URDF format in ROS or with native tooling, you will need to copy the contents of one of the meshes directories to ./urdf/meshes/ so that it can find them.
The meshes/ folder contains several subdirectories of STL files which are representations of the different links in the robot arm. All units are in meters.
- The
meshes/med-res/folder contains the medium resolution STL exports created directly by the Solidworks to URDF plugin described in the URDF section. They are exterior triangulations of the Grabcad model. - The
meshes/low-res/folder contains the same STL exports but ones that I've manually thinned and de-featured. They have significantly reduced triangle counts and some features like holes and inter-component seams have been removed. The majority of the surfaces will be roughly within 0.5mm of the original medium resolution meshes, except for the de-featured regions. I created these meshes to use them for more complicated collision detection than the convex bodies. - The
meshes/convex/folder contains convex hulls generated from the low resolution meshes by thescripts/generate_convex.pyscript. These are ideal for fast collision checking.
The IKFast solver is a uniquely fast analytic inverse kinematics tool that was originally built as part of OpenRAVE. IKFast produces an optimized C++ file with a direct solver from a robot's kinematic definitions. However, the IKFast tooling is notoriously difficult to get to run.
The ikfast/ folder contains the already-generated C++ files for an IKFast solver of the LRMate 200iD. The ikfast.h and ikfast_robot.cpp files can be directly used in a C++ project to give it access to the solver. Documentation and an explanation of how the modules were built can be found in the README.md in that directory.
The test_cases/ folder contains various sets of test data which can be used to check and verify code and kinematics models. See the README.md file in that folder for more details.
test_cases/r30ib_forward_kinematics.json- This is a set of joint positions (in degrees) and the corresponding resulting transformation matrix of the robot end flange. Can be used to check a kinematics model against joint values as they would be put into the R-30iB controller. Be aware of the J2/J3 interactions.