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5DoF Robot Arm with ROS MoveIt using SolidWorks

This GitHub repository, 5DoF_robot_arm_with_ROS_MOVEIT, showcases the design and implementation of a 5 Degrees of Freedom (5DoF) robot arm using SolidWorks. The project includes the conversion of the mechanism to URDF format and integration with ROS MoveIt for motion planning.

PLC Program

Repository Structure:

1. serial_robot_5axis

  • URDF Folder: Contains a file named midterm.urdf that encapsulates all materials required for visualization in RViz and simulation in Gazebo.
  • Launch Folder: Contains two files - midterm_rviz for running RViz and midterm_gazebo for running Gazebo.
  • YAML Folder: Includes a file named controllers.yaml responsible for joint control.

2. prrrrr_moveit_config

  • This folder is dedicated to motion planning with MoveIt, providing a comprehensive configuration for planning and executing trajectories.

3. solid_parts

  • Houses the SolidWorks parts used in designing the robot arm.

4. Capture.JPG

  • A snapshot of the robot arm design.

5. demonstration.mp4

  • A video demonstration showcasing the robot arm in action.

6. steps_to_follow_file_launching.pdf

  • Detailed instructions on running the code and launching the robot manipulator in ROS with RViz, Gazebo, and MoveIt.

How to Run:

  1. Clone the repository.
  2. Navigate to the serial_robot_5axis folder.
  3. Execute the launch files: midterm_rviz for RViz and midterm_gazebo for Gazebo.
  4. Explore motion planning using MoveIt through the prrrrr_moveit_config folder.
  5. Refer to steps_to_follow_file_launching.pdf for a comprehensive guide.