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ROS Robotics By Example by Dr. Thomas L. Harman, Carol Fairchild

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Chapter 5. Creating Your First Robot Arm (in Simulation)

In this chapter, you will begin to understand the control of robot arms with ROS. We begin with a simple three-link, two-joint articulated robotic arm in simulation. The simulated robot arm, rrbot, has two revolute joints that will help you to understand, without the complexities of more joints. We will use the URDF elements described in Chapter 2, Creating Your First Two-Wheeled Robot (in Simulation) and incorporate the advantages of Xacro to make our code more modular and efficient. We will also include a mesh design for our gripper, and add control elements for the arm and gripper to our URDF. Next, we will show various ways to control the robot arm in Gazebo.

In this chapter, you will ...

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