melfarobot

This project implements a driver for the Player cross-platform robot device server and provides interfaces for controlling a Mitsubishi MELFA industrial robot.

Features

The driver provides

actarray and limb interfaces for direct movement control,
a gripper interface for hand control, and
an "opaque" interface for more advanced features (e.g. executing MELFA Basic commands or programs stored on the robot)

to the Player server. The opaque interface can either be used through the included command-line tool, or by directly sending simple plain text commands from a Player client.

The driver is currently in alpha stage and has been tested with Player version 2.1.1 on

a Mitsubishi MELFA series RV-3SB Industrial Robot, with
a CRn-500 series Ethernet Interface,

but it should work on all MELFA robots supporting the R3 protocol as described in the manual BFP-A4288 (available from Mitsubishi on request). Support for the serial port interface hasn't been implemented yet, but should be possible without much effort.

Downloads

The project's files can be found in the download area on Sourceforge.

Disclaimer

The melfarobot driver is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License version 3 as published by the Free Software Foundation.

It is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

This project is not affiliated with the Mitsubishi Electric Corporation in any way.

Contact

Wolfgang Kempin <kempin AT in DOT tum DOT de>
Technische Universität München
Chair for Image Understanding and Knowledge-Based Systems

melfarobot

Features

Downloads

Disclaimer

Links

Contact