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Analyse a 6‐DOF arm definition

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francescodelduchetto edited this page Feb 13, 2025 · 3 revisions

▶️ 🖥️ 1. In the editor, open the file RBT1001/src/week3/description/urdf/mecharm_270_m5.urdf.xacro. This has the definition of the 6 Degree of Freedom arm we have encountered in the previous workshop sessions.

▶️ 🖥️ 2. Launch the visualiser with ros2 launch week3 view_robot.launch.py description_file:=mecharm_270_m5.urdf.xacro

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❗ You can reduce the dimension of the reference frames by setting the "Marker Scale" to 0.5 in the left bar options under TF.

▶️ 📄✍️ 3. Take a pen and some paper, and derive all the homogeneous matrices that allow us to go from the base link to the link6. ❗ Note that for each joint, potentially, you have one fixed transformation and one revolute joint transformation.

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Credits

Parts for the workshops are extracted, edited from and/or inspired by the following sources.

  1. Official ROS humble tutorials: https://docs.ros.org/en/humble/Tutorials.html
  2. Elephant Robotics docs: https://docs.elephantrobotics.com/docs/gitbook-en/

2024/2025

Syllabus

2023/2024

Syllabus

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