Here is the list of joints containing the joint name and its type of robot:
|
Joint number |
Joint name |
Joint type |
Angle limits (in degrees) |
|
1 |
bottom_joint |
Fixed |
-- |
|
2 |
shoulder_pan_joint |
Revolute |
-150 to 114 |
|
3 |
shoulder_pitch_joint |
Revolute |
-67 to 109 |
|
4 |
elbow_roll_joint |
Revolute |
-150 to 41 |
|
5 |
elbow_pitch_joint |
Revolute |
-92 to 110 |
|
6 |
wrist_roll_joint |
Revolute |
-150 to 150 |
|
7 |
wrist_pitch_joint |
Revolute |
92 to 113 |
|
8 |
gripper_roll_joint |
Revolute |
-150 to 150 |
|
9 |
finger_joint1 |
Prismatic |
0 to 3 cm |
|
10 |
finger_joint2 |
Prismatic |
0 to 3 cm |
We design the xacro of the arm using the preceding specifications; next up is the explanation of the ...
