KUKA youBot, robot mobile omni-directionel avec bras
KUKA youBot, robot mobile omni-directionel avec bras
KUKA youBot, robot mobile omni-directionel avec bras

KUKA youBot, robot mobile omni-directionel avec bras

Discover the KUKA youBot mobile robot with its omnidirectional base and a KUKA arm with 5 degrees of freedom. This robot has been designed for teaching, research and experimentation. Take advantage of the expertise of KUKA with this robot !

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YouBot, an omnidirectional mobile robot from KUKA is intended for research and education. KUKA well known as one of the world's leading industrial robots manufacturer has designed here a rich platform, affordable and open. With a small KUKA arm with 5 degrees of freedom, its API compatible with ROS and a payload of 15kg (20kg if we remove the arm), the KUKA youBot is the ideal platform for mobile manipulation experiments or major international robotics contests. The KUKA youBot has a plate to accommodate sensors (Hokuyo laser range-finders or Sick Laser Range Finder, Xtion Pro Live or Microsoft Kinect ...).

KUKA youBot mobile robot with arm

The technical specifications of the KUKA youBot mobile robot with arm are as follows:

  • Omnidirectional mobile base
  • Weight of the mobile base: 20 kg
  • Weight of the arm: 5.3 kg
  • Payload of the mobile base with the arm: 15kg
  • Payload of the arm: 0.5 kg
  • Motor controlers for the TMCM range from Trinamic
  • Arm manipulator with 5 degrees of freedom
  • Parallel gripper with 2 fingers
  • EtherCAT realtime communication
  • Embedded PC mini ITX with CPU, 2 GB RAM, 32 GB SSD Flash, USB, 6xUSB 2.0, 1xVGA, 2xLAN (only 1 available)
  • DC input: 12V
  • Rechargeable battery 24V, 5Ah
  • Autonomy: around 90 minutes
  • Specific Ubuntu image from Kuka (Available for download)
  • Open interfaces
  • Control software
  • The arm and the platform can be used independently
  • Power supply

To know more about technical specifications of the KUKA youBot: http://www.youbot-store.com/wiki/index.php/YouBot_Detailed_Specifications

The arm on the Kuka youBot mobile robot

The technical specifications of the arm are as follows:

  • Degrees of freedom: 5
  • Height: 655 mm
  • Working envelope: 0.513 m²
  • Weight: 5.3 kg
  • Payload: 0.5 kg
  • Structure: magnesium casting
  • Repeatability (position): 1 mm
  • Communication: EtherCAT
  • Voltage: 24V DC
  • Drive power can be limited at 80W
  • Axial velocity: 90 deg/s
  • Encoder frequency: 1.000 Hz

Dimensions of the arm of the KUKA youBot robot

Developping with the KUKA youBot mobile robot with arm

A website dedicated to users and programmers of the mobile robot KUKA youBot with arm is available at http://www.youbot-store.com/developers/. The Kuka youBot mobile robot is programmable using different API:

Programming the KUKA youBot using C++

The KUKA youBot software stack is divided into 2 layers:

The EtherCAT driver: this is the lowest level of software that is possible to access to control the youBot. This software layer can control all the actuators of the KUKA youBot using the EtherCAT protocol. This software layer uses standard Ethernet cables to connect the EtherCAT master and slave. The KUKA youBot mobile robot uses an open source SOEM driver implementation of the EtherCAT master.

The KUKA youBot API: built on top of the previous software layer, this C ++ API allows you to control the robot and use high level features related to kinematics and control joints. This layer was developed by the Autonomous Systems Group at the University of Bonn-Rhein-Sieg in Germany. This API allows among others to define the Cartesian speed of the omnidirectional mobile base and to read the values of the encoders for odometry. On the arm, the API allows to read and set the values of joints (control position) and the gripper. To know more: http://www.youbot-store.com/wiki/index.php/API_architecture

Programming the KUKA youBot using ROS

The ROS wrapper for the KUKA youBot API exposes the functionalities of the API in ROS. Using this wrapper, it is possible to control the mobile base and the arm with ROS messages. The information of the encoders of the wheels of the base and the motors of the arm are published as ROS topic. The latest version of the ROS wrapper for KUKA youBot available is the version for Hydro. For more information: http://www.youbot-store.com/wiki/index.php/ROS_Wrapper .
A ROS navigation stack is also available for local navigation and obstacle avoidance (based on the reading of a laser rangefinder to add).

Simulating the KUKA youBot mobile robot

The KUKA youBot can be used in various simulators:

  • Gazebo
  • OpenRAVE
  • V-REP
  • Webots

The following video shows a simulation example of the KUKA youBot robot into GAZEBO:

PDF documentation for the KUKA youBot

Click on the image above to download the PDF documentation of the KUKA youBot.

Document PDF

Content of the kit robot youBot

The Kuka youBot contains:

  • 1x KUKA youBot platform
  • 1x KUKA youBot arm with 2-finger-gripper
  • 1x KUKA youBot connection set 1
  • 1x KUKA youBot loading platform
  • 1x KUKA youBot power supply
  • 1x KUKA youBot lead acid battery
  • 1x KUKA youBot sensor bracket platform
  • 1x KUKA youBot sensor bracket arm
  • 1x KUKA youBot transportation case platform
  • 1x KUKA youBot transportation case arm
  • 1x KUKA youBot USB-Card with documentation
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