Staübli work-cell: general description and operation

Abstract

This technical report provides all the information necessary to operate all the elements that integrate the Staübli work-cell at the perception and manipulation laboratory at IRI. A detailed description of each of the robots, safety features, sensors and actuators available at the work-cell is presented. Special attention is paid to the integration of the safety features integrated into the operation of the robots of the work-cell. Also, for maintenance purposes and future upgrades, a detailed description of the electrical wiring of the control box, as well as its input an output connectors, is presented.