6-DOF Robotic Arm

A 6-DOF serial robotic manipulator designed from scratch for simulation, motion planning, control, and future hardware implementation.

Repository Structure

src/
├── arm_description/
├── arm_moveit_config/
├── arm_ros2_control/
├── arm_gazebo/
└── arm_bringup/

CAD/
docs/
images/
LICENSE
README.md

Components

• Mechanical CAD
• ROS 2 Robot Description (URDF/Xacro)
• RViz Visualization
• MoveIt 2 Motion Planning
• Gazebo Simulation
• ros2_control Integration

License

Apache-2.0