Cyton 7DOF Pioneer Arm

From MobileRobots Research and Academic Customer Support

Cyton I shown. (For an older version of the Cyton I arm, see [[1]])

The Cyton arm is a 7 degree of freedom (DOF) jointed manipulator with a 1-DOF "gripper" end effector, manufatured by Energid and installed by MobileRobots on a Pioneer 3 DX or Pioneer 3 AT as an optional accessory. It is a slightly larger, more robust and higher-DOF replacement for the Original Pioneer 5DOF Arm. (A key distinguishing feature is that the Cyton arm features mostly metal construction, while the original arm was all plastic. Steel springs are also visible at some joints.) The arm uses a Lynx SSC-32 servo controller to actuate the arm joints.

Included with the arm is the Actin CytonViewer software that includes inverse kinematics, and user teleoperation with 3D visualization of arm state.

Introduced: CytonI: Sept. 2008; CytonII: 2010
Replaced: Original Pioneer 5DOF Arm
Supporting Software: For Cyton I: Cyton 7DOF Arm Software; For Cyton II: Cyton II Software