Trajectory Planning of 7-Degree-of-Freedom Manipulator Based on ROS

摘要

Abstract 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.