- Robot arms
JACO was named in honor of Jacques Forest, the uncle of C.E.O. and co-founder Charles Deguire. Inventor of the Manipulo arm, Jacques Forest suffered from muscular dystrophy and retained only the use of his left thumb, which severely limited his capacity to carry-out some of the daily tasks to which he was accustomed. Being a passionate inventor, he began modifying the tools he used on a daily basis. In 1993, he created his first tele-manipulator. His perseverance and ingenuity has inspired many, thus this next generation technical aid proudly carries his nickname, JACO.
This one is easy! It is the contraction of MIni & jaCO.
The actuators are made so that you can daisy chain them in the way and numbers you want.
Yes. It requires a 24 V battery that respects the product’s limitations described in their respective spec sheets. Refer to the user guide for how to connect your product to a battery.
There is no mechanical limitation. All the actuators have slip rings and hollow shaft motors for continuous rotations.
The robot arms can be active compliant using torque sensors located in each joint. However, even if the sensors are not functional, the robot is inherently safe mainly based on weight and maximum speed.
Jaco and Mico have two main control modes: trajectory control (including position, velocity and admittance force control) and torque control (including direct torque control, force control and impedance). These are available both in angular and Cartesian mode.
The internal communication protocol is RS485. When using the high level API accessible via USB, the communication rate is between 100-500 Hz. However, the refresh rate of the controller is at 100Hz. If you are using the low level API and communicate directly with the actuators, the communication rate is 500 Hz.
Yes. The latest driver can be found at this address: https://github.com/Kinovarobotics/
Yes. There are two expansion wires that form a complete daisy chain throughout the entire arm. The connection to the power source (24V) and the two expansion wires is done at the last actuator (wrist) of the arm. If you purchased the robot arm with a gripper, it will require holes to be drilled in the gripper.
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