The Mobile ReactorX 200 Robot is identical to the ReactorX 200 but has a smaller form factor base making it easy to mount on a mobile platform, such as the Turtlebot. The mobile ReactorX 200 does not come with CM9.04c or a 12v5a power supply. All of the X-Series arms can be modified with the lower profile base, for questions regarding other models please contact us! The arm features the X-Series actuators offer higher torque, more efficient heat dissipation and better durability all at a smaller form factor over previous DYNAMIXEL servos. The DYNAMIXEL XM-430-W350T & DYNAMIXEL XL430-W250-T servos offer high resolution of 4096 positions and user definable PID parameters. Temperature monitoring, positional feedback, as well as voltage levels, load, and compliance settings are user accessible as well. The ReactorX 200 offers 5 degree of freedom and a full 360 degree of rotation.
open source table V5
OPEN SOURCE DEMOS AND PACKAGES
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Gazebo Simulation Configuration - Contains configuration files, launch files, and example worlds to
simulate the X-Series arms in Gazebo. Also has position and trajectory controllers with tunable PID
gains so that ROS can control the arms.
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Joystick Control - Control
any X-Series arm using a
Bluetooth joystick controller. This package can be used to control the movements of any X-Series
robotic
arm using a SONY PS3/PS4 controller or Microsoft Xbox360 controller (untested) via Bluetooth.
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MoveIt Motion Planning Configuration - Contains the necessary config files to get any of the X-Series arms
working with MoveIt, the standard motion planning framework for ROS. This package also provides
interfaces to work with the arms in a Gazebo simulation.
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Dual Arm Control - Enables
the control of multiple X-Series arms using scripts. Configuration files are provided that allow for
2 or more arms to be controlled simultaneously using multithreading techniques.
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Perception Pipeline Configuration - Contains the necessary config and launch files to get any of the many
Interbotix X-Series arms working with the perception pipeline, allowing for the arms to interact
with depth cameras such as the RealSense D415.
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MoveIt Interface and API - Contains a small API that allows a user to command desired
end-effector poses to an Interbotix arm. Also has a modified version of the Move Group Python
Interface Tutorial script for users to understand the basics of MoveIt Commander.
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Arm Diagnostic Tool - Analyze
the state of one joint or any number of joints over time while running through a script, or while
playing back a ROS bag file. Visualize different parameters such as temperature, position, and
effort over time.
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PID Gains Test Environment - A way to test 'pwm' or 'current' PID gains when operating the arm in
either 'pwm' or 'current' mode. The package moves the robot through a series of poses as a way to
test the effects of different gains and control modes.
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Dual Arm Joystick Control - Control two X-Series arms using a single joystick controller. Builds
on top of the Joystick and Dual Control packages and contains only configuration and launch files,
an example of ROS’s modularity.
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Arm Puppeteering - Demos a
record and playback feature of the X-Series arms. Also allows for the manual manipulation of one
X-Series arm while the motion is replicated nearly simultaneously in another arm.
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Python Demos - Showcase of
examples for the Interbotix Python Arm Module. We made Python wrappers for the X-Series arm that
allow users to control their arm without writing a single line of ROS code
Module.
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Software Control
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Overview |
Overview |
Packages for Ubuntu 16.04 & ROS Kinetic / Ubuntu 18.04 & ROS Melodic Contains Meshes, URDF, Inertial values, driver node as well as Gazebo config / Moveit config and examples / demos.
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The Interbotix Serial Firmware allows users who wish to use an onboard IK engine to operate a 5DOF arm through the use of serial over USB. |
The ROBOTIS Dynamixel SDK is a software development kit that provides Dynamixel control functions using packet communication. |
Operating System |
Operating System |
Linux |
Windows / MacOS / Linux |
Windows / MacOS / Linux |
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Languages |
Languages |
C++, Python, or any other ROS compatable languages |
Any language which can communicate via serial over USB |
C, C++, C#, Python, Java, MATLAB, LabVIEW and ROS. |
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Controller |
Controller |
DYNAMIXEL U2D2 |
OpenCM9.04c |
DYNAMIXEL U2D2 |
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Demos |
Demos |
Examples include:
- MoveIt!
- Rviz Gazebo Simulation
- Physical Robot Control
- Puppet Control
- Diagnostics & Data Recording
- PS3/PS4 Control
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A Windows Demo is provided allowing for control of any standard X-Series 5DOF arm. Tools are provided for users to become familiar with the Interbotix Serial Protocol |
Robotis provides sample code in many languages for users to get started |
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Kinematics Engine |
Kinematics Engine |
Northwestern Illinois Kinematics Library |
Interbotix 5DOF IK Engine |
None |
Built with Industry Leading Smart Servos
The DYNAMIXEL X-Series smart servos offer features that would normally only be found on industrial level motors for a fraction of the price.
Addressable - All servos have unique IDs allowing users to easily communicate with individual servos or groups of servos. The Shadow ID feature also allows for easy control of a second servo in dual servo joints.
Daisy Chain - DYNAMIXEL servos are connected in a daisy chain (each servo plugged into the next in series) making them extremely scalable and easy to maintain.
Servo Management Software - DYNAMIXEL Wizard 2.0 allows users to configure register settings such as PID gains, Control Modes (position, velocity, current, or PWM) and others. The software also provides tools for firmware updates, diagnostics, configuration and testing, data plotting, generating & monitoring DYNAMIXEL packets, and more.
Trajectory Smoothing - Smart servos have multiple registers for setting velocity & acceleration limits, PID gains, and more for fine tuning smooth joint motions.
Low Level Libraries Provided - DYNAMIXEL servos have libraries that abstract away the serial communication layer allowing developers to concentrate their time on higher level code.
The ReactorX 200 comes fully assembled and tested and is constructed from extremely rigid 20mm x 20mm extruded aluminum and aluminum brackets. The arm sits on an industrial grade,slewing bearing for added stability and accuracy. The electronics are covered with a transparent acrylic shield to keep the electronics free from debris as well as with impact from the arm itself.
3D PRINT CUSTOM GRIPPERS
The X-Series gripper carriages are designed for users to quickly and easily change the gripper fingers for
different projects. CAD files for the gripper are available for download, if you can design it and 3D print the customization is endless. Included with the arm are sticker backed foam and sorbothane rubber both increase gripping strength while relieving stress on the gripper servo.
ALUMINUM CONSTRUCTION
All of the X-Series arms are constructed using extremely ridged, lightweight T-slot extruded aluminum and aluminum brackets. All of the X-Series Arms come with a 90 degree elbow design allowing for a greater range of movement and the ability to fold completely on itself.
INDUSTRIAL GRADE BEARING
Each of the X-Series arms* features an industrial quality, high grade slewing bearing base as the central mounting point. The bearing ensures maximum rigidity and accuracy and takes all strain of the base servo increasing the longevity of the arms.
* Pincher 100 comes with roller bearing base
Product Features:
- XM430-W350T & XL430-W250-T Servos
- Industrial Bearing Base
- Aluminum Construction
- Gripper with Interchangeable Fingers
- 5 DOF
Includes:
- 3x XM430-W350-T Actuators
- 4x XL430-W250-T Actuators
- 1x USB2 Micro Cable
- ReactorX 200 Hardware & Frames
- Extra Gripper Foam / Rubber
- Drivers / Extra Hardware
- Base Mount Hardware
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Degrees of Freedom
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5
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Reach
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550mm
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Total Span
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1100mm
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Accuracy
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1mm
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Working Payload
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150g
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Total Servos
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7
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Wrist Rotate
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Yes
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ReactorX 200 Reach
XM430 DYNAMIXEL servos support up to 360 degrees of rotation, which results in an extraordinary range of motion.
The ReactorX 200 Robot Arm has a 55cm horizontal reach
from center of the base to gripper with a total span of 110cm. The working payload for the ReactorX 200 arm is 200g. Working payload is the weight in which the arm should not exceed under normal working circumstances and is measured by the arm's ability to repeatedly lift an object at roughly half extension without failure. While the ReactorX 200 can lift more than 150g, we do not recommend payloads over this number.
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Documentation:
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