ROS Programming: Building Powerful Robots

Type of joints

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; here is the explanation of the arm ...