TTRobo Visualizer

Joint Controls

J1 Base Yaw 0.0°

J2 Shoulder 0.0°

J3 Elbow 0.0°

J4 Wrist Pitch 0.0°

J5 Wrist Roll 0.0°

Presets

IK Target (mm from base)

X Y Z

Toggles

Camera Views

Motor Positions (Home-Relative)

J1 RS-03 (Base)0.0°

J2 RS-03 (Shoulder)0.0°

J3 RS-02 (Elbow)0.0°

J4 RS-01 (Wrist P)0.0°

J5 RS-05 (Wrist R)0.0°

Paddle Position

X (lateral)0 mm

Y (height)0 mm

Z (forward)0 mm

Dimensions (mm) — URDF v2

Base→J1: 58

J1→J2: 55

J2→J3: 247

J3→J4: 247

J4→J5: 133

J5→Paddle: 734

Arm reach: 627mm

Total reach: 1361mm

Cameras

D455 — Ball Track (Base)● live

D435i — Side View● live

Hardware

GPURTX 4070 12GB

CAN Bus1 Mbps

Control Rate20 Hz

PSU48V / 1536W

Calibration Notes

Home Calibrated ✓

All joints calibrated to home position. Dashboard uses home-relative degrees (0° = home). Slider limits are ±180° for visualization — actual mechanical stops are narrower and enforced in config.yaml on the robot.

Home: J1=702.97° J2=34.53° J3=-185.14° J4=485.65° J5=1084.42° (absolute encoder)

Model

URDF v2 CAD Model

Loaded from ASSEMBLY.urdf (v2) — 16 STL meshes, 5 revolute joints. Upper arm 247mm, forearm 247mm — matches physical robot. Joint axes and link offsets from Charan's SOLIDWORKS export.

Source: TT BOT URDF 2 / Charan R

⚙ Calibration

Joint Limits (degrees)

J1 — Base Yaw (RS-03)

min

max

home

J2 — Shoulder (RS-02)

min

max

home

J3 — Elbow (RS-01)

min

max

home

J4 — Wrist Pitch (RS-05)

min

max

home

J5 — Wrist Roll (RS-05)

min

max

home

Motor Speed Limits (°/s)

J1 — Base Yaw

J2 — Shoulder

J3 — Elbow

J4 — Wrist Pitch

J5 — Wrist Roll

CAN Bus

Baudrate

Host ID

Control Loop

Loop Hz

Deadzone

Loc Kp

Settle Tolerance (°)

Settle Timeout (s)