UFactory xArm User Manual

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All units for angles use degrees (°).
2.1 Robotic Arm Motion Mode and State Analysis
2.1.1 The Motion Mode of the Robotic Arm
Motions of the robotic arm: joint motion, linear motion, linear circular
motion, circular motion, servoj motion and servo_cartesian motion.
The following motions are in position mode (Please refer to 【Robot
Movement & Status Analysis】):
● Joint Motion: to achieve the point-to-point motion of joint space
(unit: degree/radian), the speed between each command is
discontinuous.
● Linear Motion: to achieve linear motion between Cartesian
coordinates (unit: mm), the speed between each instruction is
discontinuous.
● Arc Linear Motion: to achieve linear motion between Cartesian
coordinates (unit: mm), inserting an arc between two straight lines
for a smooth transition, and the speed between each command is
continuous.
● Circular Motion: Circular motion calculates the trajectory of the

UFactory xArm Specifications

General

Payload	5 kg
Repeatability	±0.1 mm
Programming Language	Python, C++, ROS
Communication Interface	Ethernet
Operating Temperature	0°C to 45°C