Trajectory Planning And Simulation Of Educational Robot Based On ROS

摘要

Aiming at the difficulty of robot trajectory planning algorithm and the impact and vibration of motion process, a method of trajectory planning under ROS system is proposed by studying the mainstream operating system ROS (Robot Operating System). First, a robot model is built in ROS, which is planned in Cartesian motion space and joint space respectively. Then, the optimization curve of joint speed, acceleration and jerk obtained by the optimized S-shaped trajectory planning algorithm in matlab ensures the rapid and stable motion of the robot. Finally, the Python language was written to simulate the robot in Rviz. The simulation results and the joint angle graph showed smooth and no impact, indicating the effectiveness of the method.