YuMi® is a collaborative, dual-arm Small Parts Assembly robot that includes flexible hands, parts feeding systems, camera-based part location and state-of-the-art robot control.
The Red, Green and Blue protudings denote the three axis of rotation for the robotic shoulder, giving it three degrees of freedom (3 DOF)-
- Yaw (Blue)
- Pitch (Green)
- Roll (Red)
Simularly by using iviz.MarkerBodyName = "gripper_r_base" and selecting a particluar part as marker body we can move it along 3 DOFs.
In this example we have used the gripper base.
Trajectory Control - A trapezoidal velocity profile is generated using trapveltraj. A trapezoidal velocity profile
means the robot stops smoothly at each waypoint, but achieves a set max speed while in motion.
