BB robot definition for the UFactory xArm6.

6-DOF serial manipulator with revolute joints J1–J6. All joints rotate about their local Z axis. Joint limits and effort values are sourced from the xArm Developer Manual V1.10.0 and confirmed against the URDF in tmp/urdf/xarm6/.

Joint Limits

Usage

Build your own robot module from this definition, overriding what you need:

defmodule MyRobot do
  use BB.Ufactory.Robots.XArm6, host: "192.168.1.111"
end

Options

• :host — the arm's IP address (default "192.168.1.111")
• :loop_hz — motion-loop rate for the :xarm controller (default 100)
• :simulation — the controller's simulation strategy (default :mock)
• :controller — extra BB.Ufactory.Controller options merged into the child spec, e.g. [tcp_offset: {0.0, 0.0, 172.0, 0.0, 0.0, 0.0}, reduced_mode: true]
• :cartesian — a :cartesian actuator (BB.Ufactory.Actuator.Cartesian) on a fixed mount at :link6, for CartesianMove commands. Enabled by default (it needs no extra hardware); pass false to omit, or a keyword list of actuator options (e.g. [speed: 150.0])
• :gripper — true (or a keyword list of BB.Ufactory.Actuator.Gripper options, e.g. [speed: 1500]) adds a :gripper actuator on a fixed mount joint at :link6 (the TCP)
• :linear_track — true (or BB.Ufactory.Actuator.LinearTrack options, e.g. [speed: 200]) adds a :track actuator on a fixed mount joint at the base link

Sensors compose without options — declare your own sensors do ... end block alongside the use:

defmodule MyRobot do
  use BB.Ufactory.Robots.XArm6, host: "192.168.1.111", gripper: true

  sensors do
    sensor :wrench, {BB.Ufactory.Sensor.ForceTorque, controller: :xarm}
  end
end

For a topology this definition cannot express (renamed joints, the arm mounted on a larger robot), copy the DSL from this module's source into your own use BB robot.

This module is itself a complete robot (host 192.168.1.111) and can be started directly, which the library's own simulator tests do.