Features

Product Name : OpenMANIPULATOR-P
Model Name : RM-P60-RNH


User Programmable Open-Source Manipulator System

Modular Platform for Easy Maintenance and Customization

No External Control Box & High Weight-to-Payload Ratio

Package Components
OpenMANIPULATOR-P1 (Fully-assembled)
Hard Case1
U2D21
Spare Cables (4P, 2P)1
Screw Sets (WB M3x8 etc)1
4P Expansion Hub1
H/W Specification
DOF6
Payload (kg)3
Repeatability (mm)±0.05
Speed (Each joint, deg/sec)180
Weight (kg)5.5
Reach (mm)645
Rated Voltage (VDC)24
CommunicationRS-485 (Multi Drop Bus)
Motor Output / Joint

200W / 2ea

100W / 2ea

20W / 2ea

SoftwareROS (Ubuntu Linux)

Controller

PC (Not Included)
S/W Specification

ROBOTIS Manipulator controller package based on integrated software 


OpenMANIPULATOR-P Library (Kinematics,Trajectory and Dynamixel Controller).

GUI program package for setting and monitoring control parameters.

MoveIt! package for OpenMANIPULATOR-P

Simulation package based on Gazebo Simulator

Teleoperation examples of keyboard and Joystick 

Purpose

Research and Education 

Kinematics and Dynamics Experiment


Research and Design a Dual Arm Robot
 

Build a Mobile Robot System


Industrial Operation

Inspection Equipment


Small-Scale Delivery System

Caution


Power supply and PC are not included.
Please purchase separately according to your 
usage environment.

.

Factory Default Settings
ID1
Baud Rate57600 bps

(User can change various settings including ID and baud rate according to environment)


If you purchase RH-P12 (Robot Hand) and RM-P60-RNH(OpenMANIPULATOR-P) together, they will be shipped out together in the OpenMANIPULATOR-P`s case.
Features of DYNAMIXEL-P


All-in-one Modular Design

DC Motor + Controller + Driver + Sensor + Cycloid Reduction Gear


Compact and Lightweight

Minimized module size with compact and lightweight cycloid reduction gear.


High weight-to-output ratio(0.05Nm/g)


High impact resistance ( over 400%)


High Precision and Low Backlash

Contactless (Magnetic) Absolute Encoder(by AMS) & Incremental Encoder for Precise Positioning


Low backlash (3~4arcmin)

Performance data provided tested by Korea Laboratory Accreditation Scheme(KOLAS)


Current-Based Torque Control 

High speed current sensing algorithm and current feedback control

Triple-loop control for current, speed and position feedback.


User Friendly development environment


Provide C language based library

Various solution examples (C++, LabVIEW, C#, eclipse, JAVA, etc..)