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    Laboratory

    Off-the-shelf equipment

    iiwa    Kuka LBR iiwa

    Payload: 7 kg
    Reach: 800 mm
    Number of axes: 7
    Weight: 22 kg
    Sensors: joint angle and joint torque
    Controller: Kuka Sunrise Cabinet

     Web site

    youbot   Kuka youBot

    Arm
    Payload: 0.5 kg
    Reach: 655 mm
    Number of axes: 5
    Weight: 5.3 kg
    Sensors: joint angles
    Controller: Ethercat servo boards

    Mobile base
    Payload: 20 kg
    Weight: 20 kg
    4 omnidirectional wheels
    Controller: Ethercat servo boards

     Web site

    motoman   Yaskawa Motoman SIA5F

    Payload: 5 kg
    Reach: 559 mm
    Number of axes: 7
    Weight: 30kg
    Sensors: joint angle
    Controller: FS100

     Web site

         
    gripper   Weiss robotics WSG-50 gripper

    Stroke: 110 mm
    Gripping speed: 5 - 420 mm/s
    Gripping force: 5 – 80 N
    Weight: 1.2 kg
    Interface: 10/100 Mb/s Ethernet

     Web site

    gripper wsg32   Weiss robotics WSG-32 gripper

    Stroke: 68 mm
    Gripping speed: 5 - 400 mm/s
    Gripping force: 5 – 50 N
    Weight: 0.55 kg
    Interface: 10/100 Mb/s Ethernet

     Web site

    optris   Optris thermal camera PI 450

    Optical resolution: 382 x 288 pixels
    Measurement range: 200 °C
    Frame rate: 80 Hz/ switchable to 27 Hz
    Accuracy: ±2 °C
    Interface: USB

     Web site

    Robotous   Robotous RFT-40 and RFT-60 force sensors
    RFT-40   RFT-60 
    Diameter: 40 mm
    Data rate: 200 Hz
    Range: 100 N (fx,fy), 150 N (fz), 2.5 Nm (T)
    Weight: 60 g
    Interface: USB
      Diameter: 40 mm
    Data rate: 200 Hz
    Range: 100 N (fx,fy), 150 N (fz), 2.5 Nm (T)
    Weight: 60 g
    Interface: USB

     Web site

    realsense

    kinect

      Microsoft Kinect v1 and Intel Realsense D435
    Kinect v1    D435
    FOV: 57° x 43°
    Depth resolution : 320 x 240
    Frame rate: 30 Hz
    Min range: 0.8 m
    Max range: 4 m
    Interface: USB
      FOV: 85.2° x 58°
    Depth resolution: Up to 1280 x 720
    Frame rate: up to 90 Hz
    Min range: 0.2 m
    Max range: 10 m
    Interface: USB

    Web site

    3dprinter   Stratasys Mojo 3D printer

    Printing technology: FDM
    Build size: 12,7 x 12,7 x 12,7 cm
    Layer thickness: 0.17 mm
    Material: P430 ABSplus
    Weight: 27 kg

    Web site

         

    Developed devices

     SUN force   SUN touch force/tactile sensor

    F/T range: 8 N (fx, fy), 10 N (fz), 0.2 Nm (T)
    Tactile array: 5 x 5
    Spatial resolution: 2.5 mm
    Weight: 80 g
    Sampling rate: 500 Hz
    Interface: USB or Wifi

     wires sensor   WIRES tactile sensor

    Tactile array: 4 x 4
    Spatial resolution: 2.5 mm
    Weight: 40 g
    Sampling rate: 500 Hz
    Interface: USB

     saphari skin   SAPHARI tactile skin

    Array of taxels for each module: 2 x 2
    Spatial resolution: 2.5 mm
    Force range: 2 N (fx, fy), 10 N (fz)
    Array of sensing modules: 6 x 6
    Sampling rate: 150 Hz
    Interface: USB

     dexmart sensor   DEXMART force/tactile sensor

    F/T range: 2 N (fx, fy), 4 N (fz), 0.1 Nm (T)
    Tactile array: 4 x 4
    Spatial resolution: 2.5 mm
    Weight: 20 g
    Sampling rate: 100 Hz
    Interface: SPI

         

     

    Developed software

     

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