June 2016
Intermediate to advanced
428 pages
9h 15m
English
Content preview from ROS Robotics By Example
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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 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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