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Robot Operating System Cookbook by Kumar Bipin

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Getting ready

We'll need a manipulator robot to perform these tasks. We know that a manipulator robot is a kind of robot that is able to physically alter the environment it works in.

A manipulator robot is modeled as a chain of rigid links, which are connected by joints, and which end in what is known as the end-effector of the robot. So, basically, any manipulator is composed of these three elemental parts:

  • Links: Rigid pieces that connect the joints of the manipulator
  • Joints: Connectors between the links of the manipulator, providing either translational or rotational movement
  • End Effector: These include the following:
    • Grippers/tools
    • Grippers/tools with sensors

In the following screenshot, we can have a look at the manipulator robot ...

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