Modeling and Simulation of 6 DOF Robotic Arm Based on Gazebo

Abstract

This paper proposes a method for robotic arms in realistic physical environment based on Gazebo. Parallel-Axis Theorem is used to estimate the links' moment of inertia. Controllers of the joints and the path planning algorithm are the important parts of the system. ROS is chosen to organize task architecture considering its easier hardware abstraction. The simulation system is able to analysis and compare robotic arm's responses under different algorithms and different target pose. When several targets given at the same time, the system can analysis which is optimal concerning the path's length and velocity's change smoothness.