-
-
Notifications
You must be signed in to change notification settings - Fork 131
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
27 changed files
with
259 additions
and
259 deletions.
There are no files selected for viewing
File renamed without changes.
File renamed without changes.
88 changes: 44 additions & 44 deletions
88
Libraries/AarhusSchoolOfArchitecture.xml → libraries/AarhusSchoolOfArchitecture.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,45 +1,45 @@ | ||
| <RobotSystems> | ||
|
|
||
| <RobotCell name="AARCH IRB120" manufacturer="ABB"> | ||
| <Mechanisms> | ||
| <RobotArm model="IRB120" manufacturer="ABB" payload="3"> | ||
| <Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> | ||
| <Joints> | ||
| <Revolute number="1" a ="0" d ="290" minrange = "-165" maxrange ="165" maxspeed ="250"/> | ||
| <Revolute number="2" a ="270" d ="0" minrange = "-110" maxrange ="110" maxspeed ="250"/> | ||
| <Revolute number="3" a ="70" d ="0" minrange = "-110" maxrange ="70" maxspeed ="250"/> | ||
| <Revolute number="4" a ="0" d ="302" minrange = "-160" maxrange ="160" maxspeed ="320"/> | ||
| <Revolute number="5" a ="0" d ="0" minrange = "-120" maxrange ="120" maxspeed ="320"/> | ||
| <Revolute number="6" a ="0" d ="72" minrange = "-400" maxrange ="400" maxspeed ="420"/> | ||
| </Joints> | ||
| </RobotArm> | ||
| </Mechanisms> | ||
| <IO> | ||
| <DO names="DO10_1,DO10_2,DO10_3,DO10_4,DO10_5,DO10_6,DO10_7,DO10_8,DO10_9,DO10_10,DO10_11,DO10_12,DO10_13,DO10_14,DO10_15,DO10_16"/> | ||
| <DI names="DI10_1,DI10_2,DI10_3,DI10_4,DI10_5,DI10_6,DI10_7,DI10_8,DI10_9,DI10_10,DI10_11,DI10_12,DI10_13,DI10_14,DI10_15,DO10_16"/> | ||
| </IO> | ||
| </RobotCell> | ||
|
|
||
| <RobotCell name="AARCH IRB6620" manufacturer="ABB"> | ||
| <Mechanisms> | ||
| <RobotArm model="IRB6620-220" manufacturer="ABB" payload="150"> | ||
| <Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> | ||
| <Joints> | ||
| <Revolute number="1" a ="320" d ="680" minrange = "-170" maxrange ="170" maxspeed ="100"/> | ||
| <Revolute number="2" a ="975" d ="0" minrange = "-65" maxrange ="140" maxspeed ="90"/> | ||
| <Revolute number="3" a ="200" d ="0" minrange = "-180" maxrange ="70" maxspeed ="90"/> | ||
| <Revolute number="4" a ="0" d ="887" minrange = "-300" maxrange ="300" maxspeed ="150"/> | ||
| <Revolute number="5" a ="0" d ="0" minrange = "-130" maxrange ="130" maxspeed ="120"/> | ||
| <Revolute number="6" a ="0" d ="200" minrange = "-300" maxrange ="300" maxspeed ="190"/> | ||
| </Joints> | ||
| </RobotArm> | ||
| </Mechanisms> | ||
| <IO> | ||
| <DO names="DO10_1,DO10_2,DO10_3,DO10_4,DO10_5,DO10_6,DO10_7,DO10_8,DO10_9,DO10_10,DO10_11,DO10_12,DO10_13,DO10_14,DO10_15,DO10_16"/> | ||
| <DI names="DI10_1,DI10_2,DI10_3,DI10_4,DI10_5,DI10_6,DI10_7,DI10_8,DI10_9,DI10_10,DI10_11,DI10_12,DI10_13,DI10_14,DI10_15,DO10_16"/> | ||
| <AO names="AO10_1,AO10_2"/> | ||
| <AI names="AI10_1,AI10_2"/> | ||
| </IO> | ||
| </RobotCell> | ||
|
|
||
| <RobotSystems> | ||
|
|
||
| <RobotCell name="AARCH IRB120" manufacturer="ABB"> | ||
| <Mechanisms> | ||
| <RobotArm model="IRB120" manufacturer="ABB" payload="3"> | ||
| <Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> | ||
| <Joints> | ||
| <Revolute number="1" a ="0" d ="290" minrange = "-165" maxrange ="165" maxspeed ="250"/> | ||
| <Revolute number="2" a ="270" d ="0" minrange = "-110" maxrange ="110" maxspeed ="250"/> | ||
| <Revolute number="3" a ="70" d ="0" minrange = "-110" maxrange ="70" maxspeed ="250"/> | ||
| <Revolute number="4" a ="0" d ="302" minrange = "-160" maxrange ="160" maxspeed ="320"/> | ||
| <Revolute number="5" a ="0" d ="0" minrange = "-120" maxrange ="120" maxspeed ="320"/> | ||
| <Revolute number="6" a ="0" d ="72" minrange = "-400" maxrange ="400" maxspeed ="420"/> | ||
| </Joints> | ||
| </RobotArm> | ||
| </Mechanisms> | ||
| <IO> | ||
| <DO names="DO10_1,DO10_2,DO10_3,DO10_4,DO10_5,DO10_6,DO10_7,DO10_8,DO10_9,DO10_10,DO10_11,DO10_12,DO10_13,DO10_14,DO10_15,DO10_16"/> | ||
| <DI names="DI10_1,DI10_2,DI10_3,DI10_4,DI10_5,DI10_6,DI10_7,DI10_8,DI10_9,DI10_10,DI10_11,DI10_12,DI10_13,DI10_14,DI10_15,DO10_16"/> | ||
| </IO> | ||
| </RobotCell> | ||
|
|
||
| <RobotCell name="AARCH IRB6620" manufacturer="ABB"> | ||
| <Mechanisms> | ||
| <RobotArm model="IRB6620-220" manufacturer="ABB" payload="150"> | ||
| <Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> | ||
| <Joints> | ||
| <Revolute number="1" a ="320" d ="680" minrange = "-170" maxrange ="170" maxspeed ="100"/> | ||
| <Revolute number="2" a ="975" d ="0" minrange = "-65" maxrange ="140" maxspeed ="90"/> | ||
| <Revolute number="3" a ="200" d ="0" minrange = "-180" maxrange ="70" maxspeed ="90"/> | ||
| <Revolute number="4" a ="0" d ="887" minrange = "-300" maxrange ="300" maxspeed ="150"/> | ||
| <Revolute number="5" a ="0" d ="0" minrange = "-130" maxrange ="130" maxspeed ="120"/> | ||
| <Revolute number="6" a ="0" d ="200" minrange = "-300" maxrange ="300" maxspeed ="190"/> | ||
| </Joints> | ||
| </RobotArm> | ||
| </Mechanisms> | ||
| <IO> | ||
| <DO names="DO10_1,DO10_2,DO10_3,DO10_4,DO10_5,DO10_6,DO10_7,DO10_8,DO10_9,DO10_10,DO10_11,DO10_12,DO10_13,DO10_14,DO10_15,DO10_16"/> | ||
| <DI names="DI10_1,DI10_2,DI10_3,DI10_4,DI10_5,DI10_6,DI10_7,DI10_8,DI10_9,DI10_10,DI10_11,DI10_12,DI10_13,DI10_14,DI10_15,DO10_16"/> | ||
| <AO names="AO10_1,AO10_2"/> | ||
| <AI names="AI10_1,AI10_2"/> | ||
| </IO> | ||
| </RobotCell> | ||
|
|
||
| </RobotSystems> |
File renamed without changes.
File renamed without changes.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,93 +1,93 @@ | ||
| <RobotSystems> | ||
|
|
||
| <RobotCell name="CRR-IRB1600" manufacturer="ABB"> | ||
| <Mechanisms> | ||
| <RobotArm model="IRB1600-145" manufacturer="ABB" payload="10"> | ||
| <Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> | ||
| <Joints> | ||
| <Revolute number="1" a ="150" d ="486.5" minrange = "-180" maxrange ="180" maxspeed ="180"/> | ||
| <Revolute number="2" a ="700" d ="0" minrange = "-90" maxrange ="150" maxspeed ="180"/> | ||
| <Revolute number="3" a ="0" d ="0" minrange = "-245" maxrange ="65" maxspeed ="185"/> | ||
| <Revolute number="4" a ="0" d ="600" minrange = "-200" maxrange ="200" maxspeed ="385"/> | ||
| <Revolute number="5" a ="0" d ="0" minrange = "-115" maxrange ="115" maxspeed ="400"/> | ||
| <Revolute number="6" a ="0" d ="65" minrange = "-400" maxrange ="400" maxspeed ="460"/> | ||
| </Joints> | ||
| </RobotArm> | ||
| </Mechanisms> | ||
| <IO> | ||
| <DO names="DO_01,DO_02,DO_03,DO_04,DO_05,DO_06,DO_07,DO_08,DO_09,DO_10,DO_11,DO_12,DO_13,DO_14,DO_15,DO_16"/> | ||
| <DI names="DI_01,DI_02,DI_03,DI_04,DI_05,DI_06,DI_07,DI_08"/> | ||
| </IO> | ||
| </RobotCell> | ||
|
|
||
| <RobotCell name="CRR-IRB6700 MH6 + Track" manufacturer="ABB"> | ||
| <Mechanisms> | ||
| <RobotArm model="IRB6700MH6-220" manufacturer="ABB" payload="220"> | ||
| <Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> | ||
| <Joints> | ||
| <Revolute number="1" a ="320" d ="780" minrange = "-170" maxrange ="170" maxspeed ="100"/> | ||
| <Revolute number="2" a ="1135" d ="0" minrange = "-65" maxrange ="85" maxspeed ="100"/> | ||
| <Revolute number="3" a ="200" d ="0" minrange = "-180" maxrange ="70" maxspeed ="90"/> | ||
| <Revolute number="4" a ="0" d ="1182.5" minrange = "-300" maxrange ="300" maxspeed ="170"/> | ||
| <Revolute number="5" a ="0" d ="0" minrange = "-130" maxrange ="130" maxspeed ="120"/> | ||
| <Revolute number="6" a ="0" d ="350" minrange = "-360" maxrange ="360" maxspeed ="190"/> | ||
| </Joints> | ||
| </RobotArm> | ||
| <!-- | ||
| unsure as whether to place track origin on floor or robot base -currently robot base | ||
| --> | ||
| <Track model="IRBT6004" manufacturer="ABB" payload="1000" movesRobot = "true"> | ||
| <Base x="0.000" y="0.000" z="0" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> | ||
| <Joints> | ||
| <Prismatic number="7" a ="0" d ="0" minrange = "0" maxrange ="9700" maxspeed ="1500"/> | ||
| </Joints> | ||
| </Track> | ||
|
|
||
| </Mechanisms> | ||
| <IO> | ||
| <DO names="DO_01,DO_02,DO_03,DO_04,DO_05,DO_06,DO_07,DO_08,DO_09,DO_10,DO_11,DO_12,DO_13,DO_14,DO_15,DO_16"/> | ||
| <DI names="DI_01,DI_02,DI_03,DI_04,DI_05,DI_06,DI_07,DI_08"/> | ||
| </IO> | ||
| </RobotCell> | ||
|
|
||
| <RobotCell name="CRR-IRB6700 no Track" manufacturer="ABB"> | ||
| <Mechanisms> | ||
| <RobotArm model="IRB6700MH6-220" manufacturer="ABB" payload="220"> | ||
| <Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> | ||
| <Joints> | ||
| <Revolute number="1" a ="320" d ="780" minrange = "-170" maxrange ="170" maxspeed ="100"/> | ||
| <Revolute number="2" a ="1135" d ="0" minrange = "-65" maxrange ="85" maxspeed ="100"/> | ||
| <Revolute number="3" a ="200" d ="0" minrange = "-180" maxrange ="70" maxspeed ="90"/> | ||
| <Revolute number="4" a ="0" d ="1182.5" minrange = "-300" maxrange ="300" maxspeed ="170"/> | ||
| <Revolute number="5" a ="0" d ="0" minrange = "-130" maxrange ="130" maxspeed ="120"/> | ||
| <Revolute number="6" a ="0" d ="350" minrange = "-360" maxrange ="360" maxspeed ="190"/> | ||
| </Joints> | ||
| </RobotArm> | ||
|
|
||
| </Mechanisms> | ||
| <IO> | ||
| <DO names="DO_01,DO_02,DO_03,DO_04,DO_05,DO_06,DO_07,DO_08,DO_09,DO_10,DO_11,DO_12,DO_13,DO_14,DO_15,DO_16"/> | ||
| <DI names="DI_01,DI_02,DI_03,DI_04,DI_05,DI_06,DI_07,DI_08"/> | ||
| </IO> | ||
| </RobotCell> | ||
|
|
||
| <RobotCell name="CRR-IRB140" manufacturer="ABB"> | ||
| <Mechanisms group="0"> | ||
| <RobotArm model="IRB140" manufacturer="ABB" payload="6"> | ||
| <Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> | ||
| <Joints> | ||
| <Revolute number="1" a ="70" d ="352" minrange = "-180" maxrange ="180" maxspeed ="200"/> | ||
| <Revolute number="2" a ="360" d ="0" minrange = "-90" maxrange ="110" maxspeed ="200"/> | ||
| <Revolute number="3" a ="0" d ="0" minrange = "-230" maxrange ="50" maxspeed ="260"/> | ||
| <Revolute number="4" a ="0" d ="380" minrange = "-200" maxrange ="200" maxspeed ="360"/> | ||
| <Revolute number="5" a ="0" d ="0" minrange = "-115" maxrange ="115" maxspeed ="360"/> | ||
| <Revolute number="6" a ="0" d ="65" minrange = "-400" maxrange ="400" maxspeed ="450"/> | ||
| </Joints> | ||
| </RobotArm> | ||
| </Mechanisms> | ||
| <IO> | ||
| </IO> | ||
| </RobotCell> | ||
|
|
||
|
|
||
| </RobotSystems> | ||
| <RobotSystems> | ||
|
|
||
| <RobotCell name="CRR-IRB1600" manufacturer="ABB"> | ||
| <Mechanisms> | ||
| <RobotArm model="IRB1600-145" manufacturer="ABB" payload="10"> | ||
| <Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> | ||
| <Joints> | ||
| <Revolute number="1" a ="150" d ="486.5" minrange = "-180" maxrange ="180" maxspeed ="180"/> | ||
| <Revolute number="2" a ="700" d ="0" minrange = "-90" maxrange ="150" maxspeed ="180"/> | ||
| <Revolute number="3" a ="0" d ="0" minrange = "-245" maxrange ="65" maxspeed ="185"/> | ||
| <Revolute number="4" a ="0" d ="600" minrange = "-200" maxrange ="200" maxspeed ="385"/> | ||
| <Revolute number="5" a ="0" d ="0" minrange = "-115" maxrange ="115" maxspeed ="400"/> | ||
| <Revolute number="6" a ="0" d ="65" minrange = "-400" maxrange ="400" maxspeed ="460"/> | ||
| </Joints> | ||
| </RobotArm> | ||
| </Mechanisms> | ||
| <IO> | ||
| <DO names="DO_01,DO_02,DO_03,DO_04,DO_05,DO_06,DO_07,DO_08,DO_09,DO_10,DO_11,DO_12,DO_13,DO_14,DO_15,DO_16"/> | ||
| <DI names="DI_01,DI_02,DI_03,DI_04,DI_05,DI_06,DI_07,DI_08"/> | ||
| </IO> | ||
| </RobotCell> | ||
|
|
||
| <RobotCell name="CRR-IRB6700 MH6 + Track" manufacturer="ABB"> | ||
| <Mechanisms> | ||
| <RobotArm model="IRB6700MH6-220" manufacturer="ABB" payload="220"> | ||
| <Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> | ||
| <Joints> | ||
| <Revolute number="1" a ="320" d ="780" minrange = "-170" maxrange ="170" maxspeed ="100"/> | ||
| <Revolute number="2" a ="1135" d ="0" minrange = "-65" maxrange ="85" maxspeed ="100"/> | ||
| <Revolute number="3" a ="200" d ="0" minrange = "-180" maxrange ="70" maxspeed ="90"/> | ||
| <Revolute number="4" a ="0" d ="1182.5" minrange = "-300" maxrange ="300" maxspeed ="170"/> | ||
| <Revolute number="5" a ="0" d ="0" minrange = "-130" maxrange ="130" maxspeed ="120"/> | ||
| <Revolute number="6" a ="0" d ="350" minrange = "-360" maxrange ="360" maxspeed ="190"/> | ||
| </Joints> | ||
| </RobotArm> | ||
| <!-- | ||
| unsure as whether to place track origin on floor or robot base -currently robot base | ||
| --> | ||
| <Track model="IRBT6004" manufacturer="ABB" payload="1000" movesRobot = "true"> | ||
| <Base x="0.000" y="0.000" z="0" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> | ||
| <Joints> | ||
| <Prismatic number="7" a ="0" d ="0" minrange = "0" maxrange ="9700" maxspeed ="1500"/> | ||
| </Joints> | ||
| </Track> | ||
|
|
||
| </Mechanisms> | ||
| <IO> | ||
| <DO names="DO_01,DO_02,DO_03,DO_04,DO_05,DO_06,DO_07,DO_08,DO_09,DO_10,DO_11,DO_12,DO_13,DO_14,DO_15,DO_16"/> | ||
| <DI names="DI_01,DI_02,DI_03,DI_04,DI_05,DI_06,DI_07,DI_08"/> | ||
| </IO> | ||
| </RobotCell> | ||
|
|
||
| <RobotCell name="CRR-IRB6700 no Track" manufacturer="ABB"> | ||
| <Mechanisms> | ||
| <RobotArm model="IRB6700MH6-220" manufacturer="ABB" payload="220"> | ||
| <Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> | ||
| <Joints> | ||
| <Revolute number="1" a ="320" d ="780" minrange = "-170" maxrange ="170" maxspeed ="100"/> | ||
| <Revolute number="2" a ="1135" d ="0" minrange = "-65" maxrange ="85" maxspeed ="100"/> | ||
| <Revolute number="3" a ="200" d ="0" minrange = "-180" maxrange ="70" maxspeed ="90"/> | ||
| <Revolute number="4" a ="0" d ="1182.5" minrange = "-300" maxrange ="300" maxspeed ="170"/> | ||
| <Revolute number="5" a ="0" d ="0" minrange = "-130" maxrange ="130" maxspeed ="120"/> | ||
| <Revolute number="6" a ="0" d ="350" minrange = "-360" maxrange ="360" maxspeed ="190"/> | ||
| </Joints> | ||
| </RobotArm> | ||
|
|
||
| </Mechanisms> | ||
| <IO> | ||
| <DO names="DO_01,DO_02,DO_03,DO_04,DO_05,DO_06,DO_07,DO_08,DO_09,DO_10,DO_11,DO_12,DO_13,DO_14,DO_15,DO_16"/> | ||
| <DI names="DI_01,DI_02,DI_03,DI_04,DI_05,DI_06,DI_07,DI_08"/> | ||
| </IO> | ||
| </RobotCell> | ||
|
|
||
| <RobotCell name="CRR-IRB140" manufacturer="ABB"> | ||
| <Mechanisms group="0"> | ||
| <RobotArm model="IRB140" manufacturer="ABB" payload="6"> | ||
| <Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> | ||
| <Joints> | ||
| <Revolute number="1" a ="70" d ="352" minrange = "-180" maxrange ="180" maxspeed ="200"/> | ||
| <Revolute number="2" a ="360" d ="0" minrange = "-90" maxrange ="110" maxspeed ="200"/> | ||
| <Revolute number="3" a ="0" d ="0" minrange = "-230" maxrange ="50" maxspeed ="260"/> | ||
| <Revolute number="4" a ="0" d ="380" minrange = "-200" maxrange ="200" maxspeed ="360"/> | ||
| <Revolute number="5" a ="0" d ="0" minrange = "-115" maxrange ="115" maxspeed ="360"/> | ||
| <Revolute number="6" a ="0" d ="65" minrange = "-400" maxrange ="400" maxspeed ="450"/> | ||
| </Joints> | ||
| </RobotArm> | ||
| </Mechanisms> | ||
| <IO> | ||
| </IO> | ||
| </RobotCell> | ||
|
|
||
|
|
||
| </RobotSystems> |
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
Oops, something went wrong.