Here is the repository with the Smart Parasol Robotics project folders, please if you want to download the project remember to change the address of the folders with your workspace.
First you must download the miracle robot folder, there you will find all the description of the robot, both worlds for the gazebo and the URDF, if you want to run the gazebo, just run the launch with the name of Gazebo in the launchs folder.
The second folder named robotin Routes contains the configuration of the trajectory and the generation of the emitter node to transmit the desired trajectory to the gazebo simulator.
The degrees of freedom that the robot will have are observed, this is necessary to be able to generate two important matrices for our project, which is the kinematics
With the geometric method doing an good analaysis
Do 3D design of the robot
Model in RViz
Model in Gazebo
Look more in INFORM ROBOTICS.pdf in english and spanish informe Proyecto Robotica.pdf