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rrr-arm
ROS package for 3 DOF Revolute-Revolute-Revolute robot arm built from scratch using xacro model. The developed robot is visualized in Rviz, and simulated in Gazebo simulator. MoveIt config package for the robot is developed and interfaced with Gazebo (find the link at the end of the page).
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rrr_arm_config
MoveIt configuration package for Revolute Revolute Revolute (RRR) robot arm built from scratch and interfaced with Gazebo
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I recommend starting with the CAD model of the manipulator and then using it to generate the URDF (there is a plugin for that). This will enable you to visualize and simulate it in Gazebo and make the motion planning with moveit. I even started from before that and built a simple RRR arm from scratch here. I made it without CAD, but the reason was that I wanted to understand the internals. I used moveit here for planning with collision avoidance. There are steps to generate moveit config package for your robot in the same link.
I recommend starting with the CAD model of the manipulator and then using it to generate the URDF (there is a plugin for that). This will enable you to visualize and simulate it in Gazebo and make the motion planning with moveit. I even started from before that and built a simple RRR arm from scratch here. I made it without CAD, but the reason was that I wanted to understand the internals. I used moveit here for planning with collision avoidance. There are steps to generate moveit config package for your robot in the same link.