Research on Motion Trajector Planning of Industrial Robot Based on ROS

Abstract

In view of the current traditional robot control system with narrow application surface, low code reuse rate, poor scalability, complex model construction, trajectory planning algorithm implementation difficulties, single function and transplantation difficulties, the purpose of this paper is to use the open source robot operating system ROS and to build the robot control system, and the simulation of robot motion planning and experimental verification.First, the Moveit was performed for the URDF model of the robot.The configuration of the function package.Then the trajectory planning of the robot spatial line and spatial arc was conducted, and the path point information of the spatial trajectory was generated according to the OMPL motion planning library of the ROS system.Finally, in order to better control the actual robot, the path point information is interpolated with quintic splines, and the interpolated data was sent to the servo driver through the EtherCAT bus, so as to control the actual robot movement..Finally, through simulation verification, the results show that the motion trajectory of each joint of the robot is stable, with high accuracy, and the curve obtained by the quintic spline is more smooth and stable, which provides a method for the practical motion planning of the robot.