Open AccessTrajectory Planning of 7-Degree-of-Freedom Manipulator Based on ROS
Author(s) -
Xiaojun Xu,
Mihai Duguleană
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/677/5/052072
Subject(s) - trajectory , robot , motion planning , cartesian coordinate system , computer science , manipulator (device) , control theory (sociology) , position (finance) , interface (matter) , parallel manipulator , mobile manipulator , control engineering , simulation , engineering , artificial intelligence , control (management) , mobile robot , mathematics , physics , geometry , finance , bubble , astronomy , maximum bubble pressure method , parallel computing , economics
In order to solve the problems of complex modeling of multi-degree-of-freedom redundant robot, difficult motion trajectory planning, tedious operation of traditional robot simulation tools and incomplete functions, this paper obtains a trajectory planning method under ROS system through the research of open source robot operating system ROS (Robot Operating system), and realizes the trajectory planning of seven-degree-of-freedom manipulator Cyton Gamma 300. Get the package of the target robot through the GitHub website and save it to the corresponding path, display the model of the manipulator in the RViz, and use C++ related interface provided by Moveit! To simulate the straight line and circular arc trajectory planning of Cyton Gamma 300 manipulator in Cartesian space on this platform. The experimental results show that the joints of the manipulator move smoothly and the accuracy of the end position meets the requirements.