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How to move Mitsubishi robots with controller CR751

ROS1

asked 2021-07-15 02:53:14 -0600

rockyist
1 ●1 ●1 ●1

We are trying to move used Mitsubishi MELFA robots with Mitsubishi controller CR751.

Our robots are: RV-4FL-Q, RV-7FL-Q, RH-3FH-Q

We are new to ROS and are currently keeping up learning with ROS wiki tutorials/ MoveIt tutorials. We use Ros1/ Noetic.

Is anyone there who have tried to move these (or one of these) Mitsubishi robots with using ROS? We need to make these robots at manufacturing factory of our customer.

We need to know how to move these robots in terms of ROS programming or any other information.

I look forward to hearing from you.

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answered 2021-07-15 11:45:20 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

You could take a look at tork-a/melfa_robot, which contains a ros_control compatible hardware_interface implementation for Mitsubishi controllers which support MXT.

The driver is manipulator agnostic, so even if that repository does not contain packages for your specific robot models / variants, you could still use it (provided you can use MXT).

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Thank you for informing us of at tork-a/melfa_robot. I checked this site and could I ask 1 thing about their condition?

Did they try to move Melfa robot with ROS Kinetic?? (I thoght so but today I couldn't find which ROS version they used on the site. I ask you.)

Anyone please let me know. I look forward to hearing from you.

Thank you.

rockyist ( 2021-08-30 20:40:02 -0600 )edit

The readme specifically shows an example installing installing the binary package for ROS Kinetic, so I guess they did.

But that's just the binary package. You should be able to build it on Noetic as well (this might require some changes).

gvdhoorn ( 2021-08-31 00:54:49 -0600 )edit

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Asked: 2021-07-15 02:53:14 -0600

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Last updated: Aug 30 '21

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