基于ros的机械臂轨迹规划研究

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI:10.1145/3366194.3366260

H. Tao, Yu Fang, Zhifeng Zhou

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引用次数: 3

摘要

针对机械手轨迹规划开发中的技术难点，提出了基于开源软件平台(Robot Operating system, ROS)构建机械手控制系统的解决方案。在RViz可视化环境中使用MotionPlanning插件进行轨迹规划。比较了RRT算法和KPIECE算法在不同障碍物环境下的轨迹曲线。最后，在机械手运动过程中，利用ROS工具推导出各个关节的位置。

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Research on Trajectory Planning of ROS-based Manipulator

In case of the technical difficulties of the development in manipulator trajectory planning, a solution that builds a manipulator control system based on an open source software platform (Robot Operating System, ROS) is put forward here. The trajectory planning is carried out in the RViz visualization environment with the MotionPlanning plug-in. The trajectory curves of the RRT algorithm and the KPIECE algorithm in different obstacle environments are compared. Finally, during the movement of the Manipulator derived the position of each joint by the ROS tool.

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Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence

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