Trajectory planning of 7-DOF redundant manipulator based on ROS platform

摘要

Aiming at the complex model construction and single function of the traditional robot simulation platform facing specific objects, the open-source robot operating system(ROS) is adopted to carry out the trajectory planning. Firstly, we establish the 7-DOF manipulator model in the Solidworks and get a simplified model with the sw2urdf plugin. Then, on the ROS platform, the Moveit setup assistant makes it easy to configure the manipulator for motion planning. Finally, We accomplish the motion planning in Rviz based on OMPL which consists of many sampling-based motion planning algorithms. Random sampling algorithm (RRT) is selected to combine Moveit and Gazebo for 7-DOF manipulator. The results show that it can provide a more intuitive method to further improve and research on the trajectory planning of the manipulator.