Research on Trajectory Planning of ROS-based Manipulator

Abstract

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.