Bioscara

This is the documentation for Bioscara DIY SCARA robot developed at the DTU Arena for Life Science Automation (DALSA). See the table of contents below to see the available user guides.

• The Getting Started guides help you to install dependencies, build the ROS2 workspace, setup the network and finally operate the robot.

• The Developer Guides guides are targeted towards developers and contain other useful instructions, for example how to build this documentation or flash the joint firmware.

• The Hardware guides describe the hardware assembly instructions. Note: These require a consolidation!

• The Source Code Documentation links to the C++ API documentation of the ROS2 packages.

The PDF version of this documentation can be found here: bioscara.pdf

Architechture

The control system architecture is schematically displayed in the figure below. The yellow colors whos custom C++ hardware specific code which is described in the C++ API Documentation. The orange colors are the ROS2 applications for motion control and trajectory generation. The red colors are SiLA applications, not yet implemented as indicated by the dashed lines.

Contents:

• Getting Started
  • Installation
  • Building the ROS2 Workspace
  • Operate the Robot
  • Network Setup
• Developer Guides
  • Standalone Gripper Operation
  • Modifying and Flashing the Joint Firmware
  • Building the Documentation locally
  • Creating a IKFast Inverse Kinematics Plugin
• Hardware
  • Supplementary Assembly Instructions
• Source Code Documentation
  • ROS2 Package Architecture
  • C++ API Documentation