Analyse a 6‐DOF arm definition - LCAS/RBT1001 GitHub Wiki

:arrow_forward: :desktop_computer: 1. In the editor, open the file RBT1001/src/week3/description/urdf/mecharm_270_m5.urdf.xacro. This has the definition of the 6 Degree of Freedom arm we have encountered in the previous workshop sessions.

:arrow_forward: :desktop_computer: 2. Launch the visualiser with ros2 launch week3 view_robot.launch.py description_file:=mecharm_270_m5.urdf.xacro

:exclamation: You can reduce the dimension of the reference frames by setting the "Marker Scale" to 0.5 in the left bar options under TF.

:arrow_forward: :page_facing_up::writing_hand: 3. Take a pen and some paper, and derive all the homogeneous matrices that allow us to go from the base link to the link6. :exclamation: Note that for each joint, potentially, you have one fixed transformation and one revolute joint transformation.