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

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Baxter's arms

Baxter has seven rotary joints as shown in the following figure. Each arm is often referred to as a 7-DOF arm, since motion of the arm is controlled by seven actuators (motors) that are capable of independent rotation.

Baxter's 7-DOF arms are described on the Rethink Robotics site at http://sdk.rethinkrobotics.com/wiki/Arms.

Baxter's arms

Baxter's arm joints

The arm joints are named in the following manner:

  • S0: Shoulder Roll
  • S1: Shoulder Pitch
  • E0: Elbow Roll
  • E1: Elbow Pitch
  • W0: Wrist Roll
  • W1: Wrist Pitch
  • W2: Wrist Roll

The designation of the joints as S0, S1, E0, E1, W0, W1, and W2 enables us to define and even monitor each of the angles for these joints with ...

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