Interfacing a 7-DOF DYNAMIXEL-based robotic arm with ROS MoveIt!
In this section, we will discuss a 7-DOF robot manipulator called COOL arm-5000, which is manufactured by a company called ASIMOV Robotics (http://asimovrobotics.com/) and is shown in the following screenshot. The robot is built using DYNAMIXEL servos. We will see how to interface a DYNAMIXEL-based robotic arm to ROS using dynamixel_controllers:
Figure 7.13 – COOL robotic arm
COOL arm robots are fully compatible with ROS and MoveIt! and are mainly used in education and research. Here are the details of the arms:
- DOF: 7 DOF
- Types of actuators: DYNAMIXEL MX-64 and MX-28
- List of joints: Shoulder roll, shoulder pitch, elbow roll, elbow pitch, wrist yaw, wrist pitch, and wrist roll
- Payload: 5 kilograms (kg)
- Reach: 1 meter (m)
- Work volume: 2.09 m³
- Repeatability: +/- 0.05 millimeters (mm)
- Gripper with three fingers