Getting started building the robot arm

Now that we built a robot base in URDF and visualized it in Gazebo, let's get to building the robot arm. The robot arm will be built in a similar way to using URDF and there are no differences in terms of its approach. There may be only a few changes that need to be made to the robot base URDF. Let's see how the robot arm is built, step by step.

Robot arm prerequisites

To build a robot arm, we need the following:

• A good set of linkages that move independently with good physical strength
• A good set of actuators that could help us withstand enough payload
• Drive controls

In case you plan to build a real robot arm, you might need similar embedded architecture and electronic controls...