We will work with two of the most popular ABB industrial robot models: IRB 2400 and IRB 6640. The following are the images of these two robots and their specifications:
Figure 10: ABB IRB 2400 and IRB 6640
The specification of these robotic arms is given in the following table:
Robot | IRB 2400-10 | IRB 6640-130 |
Working radius | 1.55 m | 3.2 m |
Payload | 12 kg | 130 kg |
Weight | 380 kg | 1,310-1,405 kg |
Footprint | 723x600 mm | 1,107 x 720 mm |
To work with ABB packages, clone the ROS packages of the robot into the catkin
workspace. We can use the following command to do this task:
$ git clone https://github.com/ros-industrial/abb
Then, build the source packages using catkin_make
. Alternatively, we can also install packages using the Ubuntu/Debian package management system. However, to follow the reminder tutorial of this chapter, it is suggested to clone the ABB repository in your ROS workspace. The following package will install the complete set of ABB robot packages:
$ sudo apt-get...