Description of [robot]_profile.json File
[robot]_profile.json records some basic information of the robot, including the robot name, payload, reach, number of axes, home position, and maximum velocity.
The code fragment below is extracted from [robot]_profile.json file as an example.
{
#information in the library
"robot_display_names": ["name1","name2","name3"],
"payload": [40,40,60],
"reach": 2.55,
"axes": 6,
#robot home gesture
"home_jps":[0,90,0,0,90,0],
#singularity detection
"max_tcp_vel": 7,
"max_tcp_acc": 2,
"max_joint_vel": 500,
"max_joint_acc": 100
}Information Displayed on the Robot Model Card
Parameter |
robot_display_names |
Example |
"robot_display_names"：ABB_CRB_1100_4_0_475 |
Description |
Name of the robot model. |
Parameter |
"payload": [payload] |
Example |
"payload": [4] |
Description |
Rated payload (kg). |
Parameter |
reach |
Example |
"reach":0.475 |
Description |
Reachable radius (m). |
Parameter |
axes |
Example |
"axes":6 |
Description |
Number of movable axes. |
Initial Pose of Robot
Parameter |
home_jps |
Example |
"home_jps":[0,90,0,0,90,0] |
Description |
Default pose (unit: °) of the robot model in the software. |
Singularity Detection
The following parameters are used for singularity detection.
Parameter |
max_tcp_vel |
Example |
"max_tcp_vel": 7 |
Description |
Maximum TCP velocity (m/s). |
Parameter |
max_tcp_acc |
Example |
"max_tcp_acc": 2 |
Description |
Maximum TCP acceleration (m/s²). |
Parameter |
max_joint_vel |
Example |
"max_joint_vel": 500 |
Description |
Maximum joint velocity (°/s). |
Parameter |
max_joint_acc |
Example |
"max_joint_acc": 100 |
Description |
Maximum joint acceleration (°/s²). |