General information

What is ridgeback_yumi?

ridgeback_yumi is the name given to a robot built at KTH RPL, that attempts to fulfill the role and functions of PR2. It is a modular robot comprised of an ABB YuMi IRB14000 7-DoF dual arm manipulator, and a Clearpath Ridgeback mobile base.

For reference on how to setup each of these robots seperately, check the wikis that we have prepared for them:

• ABB YuMi
• Clearpath Ridgeback

Accessories

At this moment, the ridgeback_yumi that we have at Lab 704 has the following accessories on top of it:

1. TP-LINK TL-WR941ND 450 Mbps Wireless N Router WiFi router.
2. Maxxtro Power Outlet Strip, with power switch, 1.5m cable, and 9xF (CEE 7/3) outlets. Electrical plug modified to American so that it can fit into the Ridgeback inverter.
3. 2 x Optoforce 6-axis Force/Torque sensors, attached to YuMi with custom mounts.
4. 2 x Optoforce Ethernet converter
5. ABB FlexPendant for YuMi
6. Kinect for Xbox One
7. NVIDIA Jetson TX1 Development Kit

Previous components: Intel NUC5i7RYH