UFactory xArm User Manual

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Parameter
pose1
Cartesian coordinates
[x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]；
pose2
Cartesian coordinates
[x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]；
percent
Percentage of arc moved
is_radian
If is_radian = True, the unit of roll / pitch / yaw is rad;
If is_radian = False, the unit of roll / pitch / yaw is °;
speed
TCP motion speed (mm / s, rad / s);
mvacc
TCP motion acceleration (mm / s
2
, rad / s
2
);
mvtime
0, reserved;
wait
If wait = True, wait for the current commands to be sent before
sending the next commands;
If wait = False, send the next commands directly;
2.3. xArm5 Motion Characteristics
● Cartesian space
The movement of xArm5 is relatively special. Due to the structural
limitation, the actual flexible degrees of freedom of linear and
circular motions in Cartesian space is 4, which is [x, y, z, yaw],
similar to a SCARA manipulator with four degrees of freedom.
Before starting Cartesian control, it is necessary to ensure that the
end flange surface of xArm5 and the base are completely parallel.
If mounted on horizontal plane, the roll and pitch should be [± 180
degrees, 0 degrees], otherwise the trajectory is likely to have no

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