Commit 07bd8609 authored by Martin Karlsson's avatar Martin Karlsson
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\documentclass{article}
\usepackage[official]{eurosym}
\usepackage{graphicx}
\usepackage{siunitx}
\title{Surgeon's Perspective -- \\ Properties of Robot Candidates}
\usepackage{color}
\author{Martin Karlsson}
\begin{document}
\maketitle
\section{ABB One-Armed YuMi}
\begin{figure}[h!]
\centering
\includegraphics*[height=5cm]{figs/one_armed_yumi.jpg}
\caption{ABB one-armed YuMi.}
\end{figure}
\hspace{-7mm} \textbf{Weight}: \SI{38}{kg} \\
\textbf{Payload}: \SI{0.5}{kg} \\
\textbf{Maximum TCP velocity}: \SI{1.5}{m/s} \\
\textbf{Maximum TCP acceleration}: \SI{11}{m/s^2} \\
\textbf{DOF}: 7 \\
\textbf{Reach}: \SI{559}{mm} \\
\textbf{Communication interface}: Externally Guided Motion -- Research Interface (EGMRI). (Hopefully, at least original YuMi supports this.) The project group already has competence in using EGMRI for robot control, so the threshold of using this would be significantly lower than other alternatives. Though far from completely open, EGMRI is relatively open as compared to most robot research interfaces. The programmer can send references (position and velocity) as well as torque feedforward to the internal robot controller from a PC at \SI{250}{Hz}, on joint level. Further, internal control gains can be set through EGMRI. \\
\textbf{Safety}: The robot is certified as safe, but EGMRI runs on Unofficial RobotWare. \\
\textbf{Support and availability}: The one-armed version was recently released, and the availability is unknown. The response time when errors in EGMRI are reported is usually within weeks. \\
\textbf{Price}: The RobotLab bought a dual-arm YuMi for \euro{50,000}, and the one-armed version is expected to cost less.
\section{FRANKA EMIKA}
\begin{figure}[h!]
\centering
\includegraphics*[height=5cm]{figs/franka.png}
\caption{The FRANKA EMIKA robot.}
\end{figure}
\hspace{-7mm} \textbf{Weight}: \SI{25}{kg} \\
\textbf{Payload}: \SI{3}{kg} \\
\textbf{Maximum TCP velocity}: \SI{2}{m/s} \\
%\textbf{Maximum TCP acceleration}: \SI{11}{m/s^2} \\
\textbf{DOF}: 7 \\
\textbf{Reach}: \SI{855}{mm} \\
\textbf{Communication interface}: Done through Ethernet (TCP/IP). Low-level mechatronics control possible. Up to \SI{1}{kHz}. \\
\textbf{Safety}: This is a light-weight collaborative robot. \\
\textbf{Support and availability}: Perhaps not available, and non-commercial use only.\\
\textbf{Price}: Arm, Control, Desk: \euro{9,900}, Research App bundle: \euro{4,100}. \\ Total: \euro{14,000}.
\section{Universal Robots UR3--10}
\begin{figure}[h!]
\centering
\includegraphics*[height=5cm]{figs/ur3.jpg}
\caption{UR3 robot.}
\end{figure}
\textbf{Weight}: 11--29 kg \\
\textbf{Payload}: 3--10 \\
\textbf{Maximum TCP velocity}: \SI{1}{m/s} \\
%\textbf{Maximum TCP acceleration}: \SI{11}{m/s^2} \\
\textbf{DOF}: 6 \\
\textbf{Reach}: 500--1300 mm\\
%\textbf{Communication interface}: Externally Guided Motion -- Research Interface (EGMRI). (Hopefully, at least original YuMi supports this.) The project group already has competence in using EGMRI for robot control, so the threshold of using this would be significantly lower than other alternatives. Though far from completely open, EGMRI is relatively open as compared to most robot research interfaces. The programmer can send references (position and velocity) as well as torque feedforward to the internal robot controller from a PC at \SI{250}{Hz}, on joint level. Further, internal control gains can be set through EGMRI. \\
\textbf{Safety}: This is a collaborative robot. \\
%\textbf{Support and availability}: FFF \\
%\textbf{Price}: FFF.
\section{ABB Gomtec Roberta 1--3}
\begin{figure}[h!]
\centering
\includegraphics*[height=8cm]{figs/roberta.jpg}
\caption{The Roberta robot versions.}
\end{figure}
%\hspace{-7mm} \textbf{Weight}: \SI{25}{kg} \\
%\textbf{Maximum TCP velocity}: \SI{2}{m/s} \\
\hspace{-7mm} \textbf{Payload}: 4--12 kg \\
%\textbf{Maximum TCP acceleration}: \SI{11}{m/s^2} \\
\textbf{DOF}: 6 \\
\textbf{Reach}: 600-1200 mm \\
%\textbf{Communication interface}: Done through Ethernet (TCP/IP). Low-level mechatronics control possible. Up to \SI{1}{kHz}. \\
\textbf{Safety}: This is a collaborative robot. \\
\textbf{Support and availability}: Likely available. Support from ABB.\\
\textbf{Price}: \euro{27,900} -- \euro{32,700}
\section{KUKA LBR iiwa 7 R800 / 14 R820}
\begin{figure}[h!]
\centering
\includegraphics*[height=8cm]{figs/iiwa.png}
\caption{KUKA LBR iiwa.}
\end{figure}
\hspace{-7mm} \textbf{Weight}: \SI{22}{kg} / \SI{30}{kg} \\
%\textbf{Maximum TCP velocity}: \SI{2}{m/s} \\
\hspace{-7mm} \textbf{Payload}: \SI{7}{kg} / \SI{14}{kg} \\
%\textbf{Maximum TCP acceleration}: \SI{11}{m/s^2} \\
\textbf{DOF}: 7 \\
\textbf{Reach}: \SI{800}{mm} / \SI{820}{mm} \\
%\textbf{Communication interface}: Done through Ethernet (TCP/IP). Low-level mechatronics control possible. Up to \SI{1}{kHz}. \\
\textbf{Safety}: This is a collaborative robot. \\
\textbf{Support and availability}: Likely available. Support from KUKA.\\
\textbf{Price}: Estimated \euro{50,000}
\section{Important note on safety}
Even though some robot model is marketed as safe, guarantees from the manufacturer are not applicable when running research interfaces, or during robot movement close to a human head, or in medical applications.
\end{document}
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