Manipulator System
The service robot TASER is designed for two PA10-6C
robot arms from Mitsubishi Heavy Industries (MHI).
These arms can be controlled using ARCNET. For this we had to
modify an ARCNET card
from Contemporary Controls
to use an MHI-optical board since the PA10-6C sends and receives data via special fiber-optics.
As control software the Robot Control C Library
(RCCL), written by John Lloyd is used. It was modifed by Thorsten Scherer
to enable control of PA10 series manipulators.
Each arm uses a BarrettHand™ BH8-262 with integrated force sensors as a gripper. Additionally a Microhead Camera is mounted close to each hand.
