Lab Equipment

List of equipment

Melfa RV-3SB

Melfa is the 6-DOF robot arm at the lab. It is usually equipped with a JR3 force/torque sensor at the wrist, and a Weiss Robotics WRT-102 parallel gripper (Schunk PG-70 gripper equipped with Weiss tactile sensor arrays).

Usage rules

Some general usage rules follow:

  • Be ready to stop the motion (keep your hand on stop/emergency stop) with a very short notice always when operating the arm.
  • If you are not very experienced with the arm, always have another person present whenever you are using your own software to move the arm.
    • Be especially careful when using real-time feedback control.
  • If anything unexpected happens and you are not absolutely sure how to sort out the problem, contact someone (e.g. Ville) who knows the system thoroughly.
  • JR3 force sensor and Schunk gripper are mainly to be used with the arm. Please do not detach them before discussing with others.


The arm is used by several researchers. To sort out simultaneous needs, there is a booking system at booking system. If you have login problems to the booking system, contact the sysadmin (Ilmari).

Rules for the booking (if you have suggestions for changes, please discuss with Ville):

  1. Bookings in the booking system give preference.
  2. You can use the robot without a booking but beware (1).
  3. Do not make unnecessary bookings (e.g. a “standard” booking for each week just to make sure you get to use the robot).
  4. Use your real name in the booking system to allow other people see who booked the arm and discuss potential booking changes.
  5. JR3 force sensor and Schunk gripper are included in the booking.

Manuals and software support

The manual CD is in the lab. Downloadable manuals can also be found from the Finnish distributor's website. Look for the RV-3 manuals.

Software support for controlling for the arm can be found in itlabcpp, lab's software library, in Hardware/RV3SB.

Bumblebee 2

Bumblebee 2 is a FireWire stereo camera from Point Grey. Interfacing to Bumblebee is easiest via itlabcpp.

Imaging Sensor:  	Sony 1/3" progressive scan CCD, 
		 	ICX424 (648x488 max pixels), 7.4 micro square pixels
Baseline: 	 	12cm
Focal lengths:   	3.8mm with 66degree HFOV or 6mm with 43degree HFOV
A/D Converter:   	12-bit analog-to-digital converter
White Balance:   	Automatic/manual
Frame rate:      	48 FPS
Interfaces:      	6-pin IEEE-1394a for camera control and video data transmission.
Voltage Req.:    	8-32V via IEEE-1394 interface or GPIO connector
Power consumption: 	2.5W at 12V
Gain: 			Automatic
Shutter: 	 	Automatic/Manual, 0.01ms to 66.63ms at 15 FPS
Trigger Modes: 	 	DCAM v1.31 Trigger Modes 0, 1, 3, and 14
Signal to noise ratio: 	60db
Dimensions: 	 	157 x 36 x 47.4mm
Mass: 		 	342g
Camera Specification: 	IIDC 1394-based Digital Camera Specification v1.31
Lens mount: 	 	2 x M12 microlens mount
Emissions Compiance: 	Complies with CE rules and Part 15 Class A of FCC Rules
Operating Temp:  	Commercial grade electronics rated from 0 to 45 celcius
Storage Temp:    	-30 to 60 celcius


Unibrain is a firewire-camera. There are three cameras. Two older models with fixed lens and one newer with wide-angle lens.

Calibration for the Unibrain camera with wide-angle lens

Calibration results (with uncertainties):

Focal Length:          fc = [[|388.39372   387.36015 ]] ± [[|2.19541   2.15793 ]]
Principal point:       cc = [[|340.36180   246.25663 ]] ± [[|1.13353   1.14375 ]]
Skew:             alpha_c = [[|0.00000 ]] ± [[|0.00000  ]]   => angle of pixel axes = 90.00000 ± 0.00000 degrees
Distortion:            kc = [[|-0.29815   0.07523   0.00057   0.00096  0.00000 ]] 
                          ± [[| 0.00429   0.00282   0.00050   0.00036  0.00000 ]]
Pixel error:          err = [[|0.50051   0.46572 ]]

Note: The numerical errors are approximately three times the standard deviations (for reference).

Panasonic HSM-381

Panasonic surveillance webcam is attached to the mobile robot. It can turn its lens and zoom in and out by remote control.

Calibration for Panasonic HSM-381 webcam in wide-angle-zoom position

Calibration results after optimization (with uncertainties):

Focal Length:          fc = [[|362.19457   361.81096 ]] ± [[|5.31050   4.97830 ]]
Principal point:       cc = [[|160.74831   114.57136 ]] ± [[|1.80055   3.70210 ]]
Skew:             alpha_c = [[|0.00000 ]] ± [[|0.00000  ]]   => angle of pixel axes = 90.00000 ± 0.00000 degrees
Distortion:            kc = [[|-0.28049   0.30951   0.00332   0.00044  0.00000 ]] 
                          ± [[|0.01779    0.07017   0.00222   0.00088  0.00000 ]]
Pixel error:          err = [[|0.28045   0.25121 ]]

Note: The numerical errors are approximately three times the standard deviations (for