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Fanuc LR mate 200ic Industrial Robotic Arm

MD Muhaimin Rahman contact: sezan92[at]gmail[dot]com LRMate

Introduction

In this project, I have developed a Gazebo Model for Fanuc LR mate 200ic Industrial Robot. I have added Robotiq gripper with the model. The urdf folder has Fanuc.urdf.xacro file which describes the whole model. The meshes folder has the mesh files which are converted from preexisting Solidworks cad models. The config folder has fanuc_control.yaml file which describes the joint controllers. The video is available here .

Prerequisites

sudo apt-get install ros-indigo-rqt-common-plugins sudo apt-get install ros-indigo-rqt-ez-publisher

How to run

  • Place the folder in the src folder of catkin workspace
  • cd to catkin workspace
  • run catkin_make
  • Running simulation roslaunch Fanuc main.launch
  • In the rqt gui, Please choose the following topics to run the robot model /fanuc/fanuc/Base_Part2_controller/command /fanuc/fanuc/Part2_Part3_controller/command /fanuc/fanuc/Part3_Part4_controller/command /fanuc/fanuc/Part4_Part5_controller/command /fanuc/fanuc/Part6_Gripper_Base_controller/command

Further Development

For further development , please read the Development file.