Basheer Al-Tawil

5-DoF robot arm with ROS MoveIt

A five-axis arm designed in SolidWorks, exported to URDF and planned with MoveIt in RViz and Gazebo.

Origin
Course project
Built with
  • ROS
  • MoveIt
  • Gazebo
  • RViz
  • URDF
  • SolidWorks
View the code on GitHub

A compact exercise in the full path from CAD to motion planning. The arm has a prismatic base joint, a chain of revolute joints and a gripper.

Steps

  1. Mechanical design of the links and joints in SolidWorks.
  2. URDF export, with meshes, joint limits and inertial properties, for RViz and Gazebo.
  3. Controllers defined in YAML for each joint.
  4. MoveIt configuration for planning and executing collision-free trajectories.
Grey CAD model of a five-axis serial robot arm with a small gripper
The SolidWorks model.

The repository includes the SolidWorks parts, the URDF, launch files for RViz and Gazebo, the MoveIt configuration package and a step-by-step PDF for launching everything.

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